The invention provides a vehicle braking energy recovery control method and device, a vehicle and a storage medium. The method comprises the steps that when a whole vehicle controller receives a braking signal, the braking force needed by a vehicle is calculated according to the current state of the vehicle, three control variables which comprise the front wheel friction braking torque, the rear wheel friction braking torque and the motor regenerative braking torque are obtained, and the three control variables are calculated based on an improved genetic algorithm of a prediction model; a genetic algorithm is executed under the framework of the model prediction control; a multi-population combination iteration and average distribution method is adopted; after the optimal control sequence is output, three control variable values of the optimal control sequence are recalculated according to the vehicle state at the next moment. According to the calculated motor regenerative braking torque of the optimal control sequence at each moment, the vehicle control unit sends a control signal to the motor and a controller of the motor. The safety of the whole vehicle is guaranteed under the emergency braking working condition, and meanwhile braking recovery energy is improved under the conventional braking working condition.

    本发明提供一种车辆制动能量回收控制方法、装置、车辆及存储介质,该方法包括当整车控制器接收到制动信号时,根据车辆当前状态计算车辆所需制动力,得到前轮摩擦制动力矩、后轮摩擦制动力矩和电机再生制动力矩三个控制变量,基于预测模型的改进遗传算法计算所述三个控制变量;在所述模型预测控制的框架下执行遗传算法;采用多种群组合迭代和平均分布方法;输出所述最优控制序列后在下一时刻根据车辆状态重新计算所述最优控制序列的三个控制变量值;根据计算的每一时刻的最优控制序列的电机再生制动力矩,所述整车控制器向所述电机及其控制器发送控制信号。本发明实现在紧急制动工况下保证整车安全性,同时在常规制动工况下,提升制动回收能量。


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    Title :

    Vehicle braking energy recovery control method and device, vehicle and storage medium


    Additional title:

    车辆制动能量回收控制方法、装置、车辆及存储介质


    Contributors:
    WANG WEIDA (author) / ZHANG YUANBO (author) / LIU YANG (author) / LIU HUI (author) / NI JUN (author) / XIANG CHANGLE (author)

    Publication date :

    2020-06-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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