The invention relates to the technical field of vehicles, in particular to a vehicle braking energy recovery torque coordination control method and device and a vehicle. The method comprises the steps that whether the vehicle meets a preset energy recovery torque control function activation condition or not is judged; if the vehicle meets the preset energy recovery torque control function activation condition, whether a brake pedal of the vehicle is triggered or not is judged, and when the brake pedal is not triggered, first torque rising control over sliding recovery negative torque is conducted on the vehicle based on a preset feedforward control strategy; and after the first torque rising control is completed, second torque rising control of the sliding recovery negative torque is conducted on the vehicle based on a preset closed-loop control strategy, the target negative torque is obtained, and the motor is controlled to execute the target negative torque. Therefore, the problems that in the related technology, due to the fact that the setting step of the feedback torque is large, the loss feeling and the vehicle impact feeling can be generated are solved, and the driving experience is greatly improved.

    本申请涉及车辆技术领域,特别涉及一种车辆的制动能量回收扭矩协调控制方法、装置及车辆,该方法包括:判断车辆是否满足预设的能量回收扭矩控制功能激活条件;若车辆满足预设的能量回收扭矩控制功能激活条件,则判断车辆的制动踏板是否被触发,并在制动踏板未被触发时,基于预设的前馈控制策略对车辆进行滑行回收负扭矩的第一升扭控制;在完成第一升扭控制后,基于预设的闭环控制策略对车辆进行滑行回收负扭矩的第二升扭控制,得到目标负扭矩,并控制电机执行目标负扭矩。由此,解决了相关技术中,回馈力矩的设置阶跃较大,从而会产生丢失感和车辆冲击感等问题,大大提升驾乘体验。


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    Title :

    Vehicle braking energy recovery torque coordination control method and device and vehicle


    Additional title:

    车辆的制动能量回收扭矩协调控制方法、装置及车辆


    Contributors:
    XU QIN (author) / GUO DINGRUI (author) / ZHANG JINQIANG (author) / GUO WEI (author) / LUO BIN (author)

    Publication date :

    2023-07-14


    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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