The invention relates to a vehicle braking energy recovery method and device, a storage medium and a vehicle. The method comprises the steps that the yaw velocity and the vehicle velocity of the vehicle are obtained; the lateral acceleration of the vehicle is determined according to the yaw velocity and the vehicle velocity; under the conditions that the lateral acceleration is smaller than a first preset threshold value and the braking energy recovery function of the vehicle is in an open state, a target braking torque is determined according to the vehicle velocity and the lateral acceleration; the braking energy of the vehicle is recovered according to the target braking torque; and under the condition that the lateral acceleration is not smaller than a first preset threshold value, thebraking energy recovery function is controlled to be in a closed state. Thus, before braking and recovery of the braking energy, the yaw velocity of the vehicle is firstly acquired to calculate the lateral acceleration of the vehicle to judge whether to perform braking energy recovery, so that rollover of the vehicle due to further increase of the lateral acceleration is avoided, the braking effect of the vehicle can be guaranteed, the energy consumption is reduced, and meanwhile, the roll stability of the vehicle is improved.

    本公开涉及一种车辆制动能量回收方法、装置、存储介质及车辆,包括:获取车辆的横摆角速度和车速;根据横摆角速度和车速确定车辆的侧向加速度;在侧向加速度小于第一预设阈值,且车辆的制动能量回收功能为开启状态的情况下,根据车速和侧向加速度确定目标制动扭矩;根据目标制动扭矩对车辆的制动能量进行回收;在侧向加速度不小于第一预设阈值的情况下,控制制动能量回收功能为关闭状态。这样,在进行制动并对制动能量进行回收之前,会先获取车辆的横摆角速度来计算车辆的侧向加速度来判断是否能够进行制动能量回收,以避免进一步增加该侧向加速度从而导致车辆侧翻,能够在保证车辆的制动效果、降低能耗的同时,还提高了车辆的侧倾稳定性。


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    Titel :

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


    Weitere Titelangaben:

    车辆制动能量回收方法、装置、存储介质及车辆


    Beteiligte:
    WANG ZIYE (Autor:in) / XIONG YANFENG (Autor:in)

    Erscheinungsdatum :

    2020-09-11


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B62D MOTOR VEHICLES , Motorfahrzeuge



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