Vehicle control methods, devices, storage media and vehicles

Abstract

This disclosure relates to a vehicle control method, apparatus, storage medium, and vehicle, specifically in the field of vehicles. The vehicle includes multiple drive axles. The method includes: acquiring operating data of the drive motors of each drive axle; the operating data includes at least one of motor torque, motor speed, and motor temperature; determining the equivalent operating mileage of the drive motor based on the actual operating mileage of the vehicle and the operating data, thus obtaining multiple equivalent operating mileages corresponding to each drive axle; determining the allocated torque for each drive motor based on the vehicle's required torque and the multiple equivalent operating mileages; and controlling the multiple drive motors to output their corresponding allocated torques to drive the vehicle. Distributing torque to the drive motors based on the equivalent operating mileage of each drive axle effectively maintains a balanced lifespan for each drive motor, reducing the vehicle's lifespan costs.

Description

Technical Field

[0001] This disclosure relates to the field of vehicles, and more specifically, to a vehicle control method, apparatus, storage medium, and vehicle. Background Technology

[0002] For vehicles with multiple drive axles, traditional torque distribution strategies typically employ a fixed torque distribution ratio for each drive axle's drive motor. Alternatively, the torque distribution ratio of the drive motors across multiple drive axles may be dynamically adjusted to adapt to vehicle dynamic loads, slip ratios, drive motor temperatures, and other factors. It is understandable that an uneven torque distribution ratio among the drive motors of multiple drive axles can lead to uneven lifespans for the drive motors, thereby increasing the overall lifespan cost of the vehicle. Summary of the Invention

[0003] To overcome the problems existing in the related technologies, this disclosure provides a vehicle control method, device, storage medium, and vehicle.

[0004] According to a first aspect of the present disclosure, a vehicle control method is provided, the vehicle including a plurality of drive axles, the method comprising: Obtain the operating data of the drive motor of each of the plurality of drive axles; the operating data includes at least one of motor torque, motor speed and motor temperature; The equivalent operating mileage of the drive motor is determined based on the actual operating mileage of the vehicle and the operating data, thereby obtaining multiple equivalent operating mileages corresponding to the multiple drive axles respectively; The allocated torque for each drive motor is determined based on the vehicle's required torque and the multiple equivalent operating mileages. Based on the allocated torque corresponding to each drive motor, the plurality of drive motors are controlled to output the corresponding allocated torque to drive the vehicle.

[0005] Optionally, determining the allocated torque for each drive motor based on the vehicle's required torque and the plurality of equivalent operating mileages includes: Determine the difference between the maximum and minimum values ​​among the multiple equivalent operating mileages; When the difference is greater than a preset difference threshold, the allocated torque for each drive motor is determined based on the required torque and the multiple equivalent operating mileages.

[0006] Optionally, determining the equivalent operating mileage of the drive motor based on the actual operating mileage of the vehicle and the operating data includes: The degree of damage to the first drive motor is determined based on the operating data of the first drive motor; the first drive motor is the drive motor of any one of the plurality of drive axles; The equivalent operating mileage of the first drive motor is determined based on the degree of damage and the actual operating mileage.

[0007] Optionally, determining the degree of damage to the first drive motor based on the operating data of the first drive motor includes: The damage rate of the first drive motor is determined based on the operating data; The degree of damage to the first drive motor is determined based on the damage rate.

[0008] Optionally, determining the damage rate of the first drive motor based on the operating data includes: The torque stress corresponding to the first drive motor is determined based on the motor torque. The rotational stress corresponding to the first drive motor is determined based on the motor speed. The temperature stress corresponding to the first drive motor is determined based on the motor temperature. The damage rate of the first drive motor is determined based on at least one of the torque stress, rotational stress, and temperature stress.

[0009] Optionally, determining the allocated torque for each drive motor based on the vehicle's required torque and the plurality of equivalent operating mileages includes: The torque distribution ratio of each drive motor is determined based on the multiple equivalent operating mileages; The allocated torque for each drive motor is determined based on the torque distribution ratio and the required torque.

[0010] Optionally, determining the allocated torque for each drive motor based on the torque allocation ratio and the required torque includes: The target torque distribution ratio output by the vehicle controller is updated according to the torque distribution ratio. The allocated torque for each drive motor is determined based on the updated target torque allocation ratio and the required torque.

[0011] According to a second aspect of the present disclosure, a vehicle control device is provided, applied to a vehicle including a plurality of drive axles, the device comprising: The acquisition module is used to acquire the operating data of the drive motor of each of the plurality of drive axles; the operating data includes at least one of motor torque, motor speed and motor temperature; The conversion module is used to determine the equivalent operating mileage of the drive motor based on the actual operating mileage of the vehicle and the operating data, and to obtain multiple equivalent operating mileages corresponding to the multiple drive axles respectively; The allocation module is used to determine the allocated torque for each drive motor based on the vehicle's required torque and the multiple equivalent operating mileages; The control module is used to control the plurality of drive motors to output corresponding allocated torques according to the allocated torques corresponding to each drive motor, so as to drive the vehicle.

[0012] According to a third aspect of the present disclosure, a non-transitory computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the steps of the vehicle control method of the first aspect of the present disclosure.

[0013] According to a fourth aspect of the present disclosure, a vehicle is provided, the vehicle including the vehicle control device described in the second aspect of the present disclosure.

[0014] The above technical solution obtains the operating data of the drive motor of each of the multiple drive axles. This operating data includes at least one of motor torque, motor speed, and motor temperature. Based on the actual mileage of the vehicle and the operating data, the equivalent operating mileage of the drive motor is determined, resulting in multiple equivalent operating mileages corresponding to each of the multiple drive axles. Based on the vehicle's required torque and the multiple equivalent operating mileages, the allocated torque for each drive motor is determined. Based on the allocated torque for each drive motor, the multiple drive motors are controlled to output the corresponding allocated torque to drive the vehicle. Distributing torque to the drive motors based on the equivalent operating mileage of each drive axle effectively maintains a balanced lifespan for each drive motor, reducing the vehicle's overall lifespan cost.

[0015] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0016] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a flowchart illustrating a vehicle control method according to an exemplary embodiment.

[0017] Figure 2 This is a flowchart illustrating a vehicle control method according to an exemplary embodiment.

[0018] Figure 3 This is a flowchart illustrating a vehicle control method according to an exemplary embodiment.

[0019] Figure 4This is a flowchart illustrating a vehicle control method according to an exemplary embodiment.

[0020] Figure 5 This is a flowchart illustrating a vehicle control method according to an exemplary embodiment.

[0021] Figure 6 This is a flowchart illustrating a vehicle control method according to an exemplary embodiment.

[0022] Figure 7 This is a schematic diagram of a vehicle control device 700 according to an exemplary embodiment.

[0023] Figure 8 This is a schematic diagram of an electronic device 800 according to an exemplary embodiment. Detailed Implementation

[0024] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0025] It should be noted that all actions involving the acquisition of signals, information, or data in this disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the location is situated, and with authorization from the owner of the relevant device.

[0026] Figure 1 This is a flowchart illustrating a vehicle control method according to an exemplary embodiment, such as... Figure 1 As shown, this method is applied to a vehicle that includes multiple drive axles, and the method includes the following steps: In step S11, the operating data of the drive motor of each of the plurality of drive axles is obtained; the operating data includes at least one of motor torque, motor speed and motor temperature.

[0027] For example, multiple drive axles in a vehicle refer to the number of axles in the vehicle responsible for transmitting power to the wheels. Common multi-axle drive vehicles typically include: 4x4: All four wheels are drive wheels. This means dual drive axles (four-wheel drive). 6x4: Six wheels, four of which are drive wheels. That is, a three-axle vehicle with two drive axles.

[0028] 6x6: All six wheels are drive wheels. That is, a three-axle vehicle with three drive axles.

[0029] For multi-axle drive vehicles, each drive axle is typically equipped with a corresponding drive motor. The drive motor is used to drive the vehicle. For multiple drive motors, during vehicle operation, a dynamic torque distribution strategy is usually required, taking into account factors such as vehicle load distribution, road surface adhesion, and energy efficiency. Therefore, during the torque distribution process of multiple drive motors, the operating data of the drive motors of each drive axle can be collected in real time. This operating data can include at least one of the following: motor torque, motor speed, and motor temperature. Among them, the motor torque can be used to reflect the mechanical load of the corresponding drive motor, the motor speed can be used to reflect the centrifugal stress and wear rate of the corresponding drive motor, and the motor temperature can be the temperature of the motor windings or bearings of the corresponding drive motor, reflecting thermal stress and material aging.

[0030] In step S12, the equivalent operating mileage of the drive motor is determined based on the actual operating mileage of the vehicle and the operating data, thereby obtaining multiple equivalent operating mileages corresponding to the multiple drive axles.

[0031] For example, in a multi-axle vehicle, the output torque of each drive motor changes dynamically during operation, and the output torque of each drive motor may differ at any given moment. It is understood that, based on the default torque output, each drive motor has the same total mileage throughout its lifespan. However, during dynamic torque distribution, because the output torque of each drive motor is not evenly distributed, the remaining mileage of each drive motor may differ at any given moment. Therefore, the equivalent operating mileage of each drive motor can be determined based on the vehicle's actual operating mileage and the operating data of each drive motor. This equivalent operating mileage characterizes the cumulative power output of each drive motor. The actual operating mileage can be the vehicle's mileage displayed on the instrument panel.

[0032] In step S13, the allocated torque for each drive motor is determined based on the vehicle's required torque and the multiple equivalent operating mileages.

[0033] In step S14, based on the allocated torque corresponding to each drive motor, the plurality of drive motors are controlled to output the corresponding allocated torque to drive the vehicle.

[0034] For example, during vehicle operation, the vehicle controller can output the required torque for the vehicle. This required torque can be determined based on factors such as throttle opening, vehicle load, road gradient, and vehicle speed. This disclosure does not limit the method for determining the required torque. Furthermore, without considering transmission losses, when distributing torque among multiple drive motors based on the required torque, the sum of the distributed torques of the multiple drive motors equals the required torque. Therefore, to maintain a balanced lifespan for each drive motor, the distributed torque for each drive motor can be determined based on the multiple equivalent operating mileages and the required torque. A larger equivalent operating mileage indicates a shorter remaining lifespan for the corresponding drive motor, resulting in a smaller distributed torque for that drive motor, thus reducing output damage. After determining the distributed torque for each drive motor, the multiple drive motors can be controlled to output the corresponding distributed torque to drive the vehicle.

[0035] The above technical solution obtains the operating data of the drive motor of each of the multiple drive axles. This operating data includes at least one of motor torque, motor speed, and motor temperature. Based on the actual mileage of the vehicle and the operating data, the equivalent operating mileage of the drive motor is determined, resulting in multiple equivalent operating mileages corresponding to each of the multiple drive axles. Based on the vehicle's required torque and the multiple equivalent operating mileages, the allocated torque for each drive motor is determined. Based on the allocated torque for each drive motor, the multiple drive motors are controlled to output the corresponding allocated torque to drive the vehicle. Distributing torque to the drive motors based on the equivalent operating mileage of each drive axle effectively maintains a balanced lifespan for each drive motor, reducing the vehicle's overall lifespan cost.

[0036] Figure 2 This is a flowchart illustrating a vehicle control method according to an exemplary embodiment, such as... Figure 2 As shown, step S13 includes the following steps: In step S131, the difference between the maximum and minimum values ​​among the multiple equivalent running mileages is determined.

[0037] In step S132, when the difference is greater than a preset difference threshold, the allocated torque for each drive motor is determined based on the required torque and the multiple equivalent operating mileages.

[0038] For example, after determining the multiple equivalent operating mileages, the difference between the maximum and minimum values ​​among these equivalent operating mileages can be determined. When the difference is less than or equal to a preset difference threshold, it indicates that the remaining lifespan of the multiple drive motors is in a relatively balanced state. In this case, the torque output by the vehicle controller for each drive motor can be used as the allocated torque for that drive motor. Alternatively, when the difference is greater than the difference threshold, it indicates that the remaining lifespan of the multiple drive motors is in a non-balanced state. Therefore, the allocated torque for each drive motor can be determined based on the required torque and the multiple equivalent operating mileages.

[0039] For example, for a 6x4 dual-drive axle vehicle, including a middle axle drive motor and a rear axle drive motor, the difference threshold is 5,000 kilometers. If at a certain moment, the equivalent operating mileage of the middle axle drive motor is 52,000 kilometers and the equivalent operating mileage of the rear axle drive motor is 52,000 kilometers, then the difference between the equivalent operating mileage of the rear axle drive motor and the middle axle drive motor is 2,000 kilometers, which is less than the difference threshold. If the controller allocates the required torque at a 1:1 torque distribution ratio, then the torque allocated to both the middle axle drive motor and the rear axle drive motor will be half of the required torque.

[0040] Alternatively, at a certain moment, the equivalent operating mileage of the middle axle drive motor is 52,000 kilometers, and the equivalent operating mileage of the rear axle drive motor is 58,000 kilometers. At this time, the difference between the equivalent operating mileage of the rear axle drive motor and the middle axle drive motor is 6,000 kilometers, which is greater than the threshold value of the difference. Therefore, the torque distribution ratio of the middle axle drive motor and the rear axle drive motor can be 0.53:0.47. The torque distribution ratio can be determined using the following formulas: Mid-axle drive motor torque distribution ratio = Equivalent operating mileage of rear axle drive motor / (Equivalent operating mileage of mid-axle drive motor + Equivalent operating mileage of rear axle drive motor) = 5.8 / (5.8000 + 5.2) ≈ 0.53; Rear axle drive motor torque distribution ratio = Equivalent operating mileage of mid-axle drive motor / (Equivalent operating mileage of mid-axle drive motor + Equivalent operating mileage of rear axle drive motor) = 5.2 / (5.8000 + 5.2) ≈ 0.47; In this case, the distributed torque of the mid-axle drive motor = Required torque * 0.53; The distributed torque of the rear axle drive motor = Required torque * 0.47.

[0041] Figure 3 This is a flowchart illustrating a vehicle control method according to an exemplary embodiment, such as... Figure 3 As shown, step S12 includes the following steps: In step S121, the damage level of the first drive motor is determined based on the operating data of the first drive motor; the first drive motor is the drive motor of any one of the plurality of drive axles.

[0042] For example, determining the degree of damage to a drive motor typically requires comprehensive consideration of multiple factors, including thermal, electrical, and mechanical factors, such as thermal stress (motor temperature), electrical stress (voltage, current), and mechanical stress (torque, speed). Therefore, in the embodiments described in this disclosure, the degree of damage to the first drive motor can be determined based on its operating data.

[0043] In step S122, the equivalent operating mileage of the first drive motor is determined based on the degree of damage and the actual operating mileage.

[0044] For example, the greater the damage level of the first drive motor, the shorter its remaining lifespan and the greater its equivalent operating mileage. In one possible embodiment, after determining the damage level of the first drive motor, the equivalent operating mileage can be determined according to the following formula:

[0045] in, This indicates the equivalent operating mileage of the first drive motor; This indicates the degree of damage to the first drive motor; The reference damage level refers to the damage level under standard operating conditions during driving. The degree of accumulated damage; This indicates the vehicle's actual mileage.

[0046] Figure 4 This is a flowchart illustrating a vehicle control method according to an exemplary embodiment, such as... Figure 4 As shown, step S121 includes the following steps: In step S1211, the damage rate of the first drive motor is determined based on the operating data.

[0047] For example, during the operation of a drive motor, the damage rate refers to the probability or speed at which the drive motor suffers damage or performance degradation per unit time. It is a transient or average rate concept used to measure how "fast" damage to the drive motor occurs. Therefore, the damage rate of a drive motor is not constant; it changes as the operating data of the drive motor changes.

[0048] For example, the damage rate of the first drive motor can be determined by the following formula:

[0049] in, This indicates the damage rate of the first drive motor; This indicates the torque stress corresponding to the first drive motor; This indicates the rotational stress corresponding to the first drive motor; This indicates the temperature stress corresponding to the first drive motor; Indicates the load influence factor; and These represent the weights corresponding to rotational stress and temperature stress, respectively.

[0050] Optionally, step S1221 may include the following steps: The torque stress corresponding to the first drive motor is determined based on the motor torque. The speed stress corresponding to the first drive motor is determined based on the motor speed. The temperature stress corresponding to the first drive motor is determined based on the motor temperature. The damage rate of the first drive motor is determined based on at least one of the torque stress, rotational stress, and temperature stress.

[0051] For example, the torque stress corresponding to the first drive motor can be determined by the motor torque, the speed stress can be determined by the motor speed, the temperature stress can be determined by the motor temperature, and the torque stress... Stress at this rotational speed and the temperature stress It can be determined by the following formula:

[0052]

[0053]

[0054] in, Indicates motor torque. A reference value representing the motor torque; Indicates the normalized index of torque stress; Indicates the motor speed. A reference value indicating the motor speed; Indicates the rotational stress normalization index; This indicates the change in motor temperature (the difference between the motor temperature and the standard motor temperature). Reference values ​​representing motor temperature changes; This represents the temperature stress normalization index.

[0055] In step S1212, the degree of damage to the first drive motor is determined based on the damage rate.

[0056] For example, after determining the damage rate, the degree of damage to the first drive motor can be determined based on the damage rate, for instance, by integrating the damage rate. See the following formula:

[0057] Figure 5 This is a flowchart illustrating a vehicle control method according to an exemplary embodiment, such as... Figure 5 As shown, step S13 includes the following steps: In step S133, the torque distribution ratio of each drive motor is determined based on the multiple equivalent operating mileages.

[0058] In step S134, the allocated torque for each drive motor is determined based on the torque allocation ratio and the required torque.

[0059] For example, in one possible embodiment, after determining the plurality of equivalent operating mileages, the torque distribution ratio of the plurality of drive motors can be determined based on the proportion of the equivalent operating mileages. It is understood that for any given drive motor, the larger its equivalent operating mileage, the smaller its torque distribution ratio.

[0060] Furthermore, it is understandable that the damage rate, damage degree, and equivalent operating mileage of the drive motor can all be used to measure the damage status of the drive motor. Therefore, in addition to determining the torque distribution ratio of each drive motor based on these multiple equivalent operating mileages, the torque distribution ratio of each drive motor can also be determined based on these multiple damage rates or multiple damage degrees. For example, for a 6x4 vehicle, after obtaining the operating data of the two drive motors, their instantaneous damage rates can be calculated. By adjusting the torque distribution ratio of the two drive motors, the damage rates of the two drive motors can be made to be more consistent, thereby achieving global lifespan optimization.

[0061] Figure 6 This is a flowchart illustrating a vehicle control method according to an exemplary embodiment, such as... Figure 6 As shown, step S134 includes the following steps: In step S1341, the target torque distribution ratio output by the vehicle controller is updated according to the torque distribution ratio.

[0062] In step S1342, the allocated torque for each drive motor is determined based on the updated target torque allocation ratio and the required torque.

[0063] For example, during vehicle operation, the vehicle controller dynamically distributes torque to each drive motor by considering factors such as vehicle load, drive motor thermal management, and vehicle driving environment. Therefore, the vehicle controller can output a target torque distribution ratio that considers factors such as vehicle load, drive motor thermal management, and vehicle driving environment (e.g., road surface adhesion coefficient, driving slope). After determining the torque distribution ratio of each drive motor, the controller can comprehensively consider the impact of the equivalent operating mileage on the target torque distribution ratio, thereby updating the target torque distribution ratio output by the vehicle controller according to the torque distribution ratio, and determining the allocated torque of each drive motor according to the updated target torque distribution ratio and the required torque.

[0064] For example, the cumulative damage level of a motor can be determined based on the damage level in its historical operating data, and the damage prediction model can be used to determine the damage level of each motor in the future under the target torque distribution ratio. The damage increment within the model can be determined based on the target torque distribution ratio, navigation path and traffic information, current thermal state of the motor and material fatigue characteristic parameters.

[0065] After determining the cumulative damage and damage increment of each motor, the life margin of each motor can be determined using the following formula. ;

[0066] in, Indicates motor Life margin; The preset target lifespan of the motor; Indicates motor The cumulative degree of damage; Indicates motor Future period The increase in damage within.

[0067] When the difference between the maximum and minimum life margins of the multiple motors is less than a preset threshold, torque is allocated according to the target torque allocation ratio. When the difference is greater than or equal to the preset threshold, a gradient descent optimization method is used to update the target torque allocation ratio based on the updated target torque allocation ratio. When distributing torque, the predicted damage to each motor satisfies the following condition: minimizing the life margin difference while keeping the total torque demand constant and ensuring that the torque of each motor does not exceed its limit. The objective function for minimizing this life margin difference is... This can be expressed by the following formula:

[0068] Among them, represents the life margin of the motor ; represents the updated target torque distribution ratio; represents the target torque distribution ratio before update, represents the performance damage, are the corresponding weight coefficients respectively.

[0069] In addition, in order to ensure that the torque change rate of each motor is within the safe range, the torque adjustment amount of each motor can also be low-pass filtered through the following formula to ensure that the torque change rate is within the safe range:

[0070] Among them, is a transition coefficient (0 < k < 1), which can be adaptively adjusted according to the vehicle speed and driver intention, represents the torque distribution ratio at time t after low-pass filtering; represents the torque distribution ratio at time t - 1 after low-pass filtering; represents the updated target torque distribution ratio; Finally, the allocated torque of each motor can be determined through the following formula :

[0071] Among them, represents the torque distribution ratio of the motor ; represents the required torque of the vehicle.​​​​​​​​​​​​​The control module 740 is used to control the plurality of drive motors to output corresponding distributed torque according to the distributed torque corresponding to each drive motor, so as to drive the vehicle.

[0073] Optionally, the allocation module 730 includes: a first calculation submodule; The first calculation submodule is used to determine the difference between the maximum and minimum values ​​among the multiple equivalent running mileages; The allocation module 730 is used to determine the allocated torque for each drive motor based on the required torque and the multiple equivalent operating mileages when the difference is greater than a preset difference threshold.

[0074] Optionally, the conversion module 720 includes: a first determining submodule; The first determining submodule is used to determine the degree of damage of the first drive motor based on the operating data of the first drive motor; the first drive motor is the drive motor of any one of the plurality of drive axles; The conversion module 720 is used to determine the equivalent operating mileage of the first drive motor based on the degree of damage and the actual operating mileage.

[0075] Optionally, the first determining submodule is also used for: The damage rate of the first drive motor is determined based on the operating data; The degree of damage to the first drive motor is determined based on the damage rate.

[0076] Optionally, the first determining submodule is also used for: The torque stress corresponding to the first drive motor is determined based on the motor torque. The speed stress corresponding to the first drive motor is determined based on the motor speed. The temperature stress corresponding to the first drive motor is determined based on the motor temperature. The damage rate of the first drive motor is determined based on at least one of the torque stress, rotational stress, and temperature stress.

[0077] Optionally, the allocation module 730 further includes: a second calculation submodule; The second calculation submodule is used to determine the torque distribution ratio of each drive motor based on the multiple equivalent operating mileages; The allocation module 730 is also used to determine the allocated torque for each drive motor based on the torque allocation ratio and the required torque.

[0078] Optionally, the allocation module 730 further includes: an update submodule; This update submodule is used to update the target torque distribution ratio output by the vehicle controller according to the torque distribution ratio; The allocation module 730 is also used to determine the allocated torque for each drive motor based on the updated target torque allocation ratio and the required torque.

[0079] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0080] Figure 8 This is a schematic diagram illustrating an electronic device 800 according to an exemplary embodiment. For example... Figure 8 As shown, the electronic device 800 may include a processor 801 and a memory 802. The electronic device 800 may also include one or more of a multimedia component 803, an input / output (I / O) interface 804, and a communication component 805.

[0081] The processor 801 controls the overall operation of the electronic device 800 to complete all or part of the steps in the vehicle control method described above. The memory 802 stores various types of data to support the operation of the electronic device 800. This data may include, for example, instructions for any application or method operating on the electronic device 800, and application-related data such as contact data, sent and received messages, pictures, audio, video, etc. The memory 802 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The multimedia component 803 may include a screen and audio components. The screen may be, for example, a touchscreen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in memory 802 or transmitted via communication component 805. The audio component also includes at least one speaker for outputting audio signals. I / O interface 804 provides an interface between processor 801 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual or physical buttons. Communication component 805 is used for wired or wireless communication between the electronic device 800 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IoT, eMTC, or other 5G technologies, or combinations thereof, is not limited here. Therefore, the corresponding communication component 805 may include: a Wi-Fi module, a Bluetooth module, an NFC module, etc.

[0082] In an exemplary embodiment, the electronic device 800 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the vehicle control method described above.

[0083] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, which, when executed by a processor, implement the steps of the vehicle control method described above. For example, the computer-readable storage medium may be the memory 802 including the program instructions described above, which may be executed by the processor 801 of the electronic device 800 to complete the vehicle control method described above.

[0084] In another exemplary embodiment, a computer program product is also provided, the computer program product comprising a computer program executable by a programmable device, the computer program having a code portion for performing the vehicle control method described above when executed by the programmable device.

[0085] In another exemplary embodiment, a vehicle is also provided, which includes the aforementioned vehicle control device 700.

[0086] The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings. However, the present disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0087] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0088] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A vehicle control method characterized by, The vehicle includes multiple drive axles, and the method includes: Obtain the operating data of the drive motor of each of the plurality of drive axles; the operating data includes at least one of motor torque, motor speed and motor temperature; The equivalent operating mileage of the drive motor is determined based on the actual operating mileage of the vehicle and the operating data, thereby obtaining multiple equivalent operating mileages corresponding to the multiple drive axles respectively; The allocated torque for each drive motor is determined based on the vehicle's required torque and the multiple equivalent operating mileages. Based on the allocated torque corresponding to each drive motor, the plurality of drive motors are controlled to output the corresponding allocated torque to drive the vehicle.

2. The method of claim 1, wherein, The step of determining the allocated torque for each drive motor based on the vehicle's required torque and the multiple equivalent operating mileages includes: Determine the difference between the maximum and minimum values ​​among the multiple equivalent operating mileages; When the difference is greater than a preset difference threshold, the allocated torque for each drive motor is determined based on the required torque and the multiple equivalent operating mileages.

3. The method of claim 1, wherein, Determining the equivalent operating mileage of the drive motor based on the actual operating mileage of the vehicle and the operating data includes: The degree of damage to the first drive motor is determined based on the operating data of the first drive motor; the first drive motor is the drive motor of any one of the plurality of drive axles; The equivalent operating mileage of the first drive motor is determined based on the degree of damage and the actual operating mileage.

4. The method of claim 3, wherein, Determining the degree of damage to the first drive motor based on its operating data includes: The damage rate of the first drive motor is determined based on the operating data; The degree of damage to the first drive motor is determined based on the damage rate.

5. The method of claim 4, wherein, Determining the damage rate of the first drive motor based on the operating data includes: The torque stress corresponding to the first drive motor is determined based on the motor torque. The rotational stress corresponding to the first drive motor is determined based on the motor speed. The temperature stress corresponding to the first drive motor is determined based on the motor temperature. The damage rate of the first drive motor is determined based on at least one of the torque stress, rotational stress, and temperature stress.

6. The method of claim 1, wherein, The step of determining the allocated torque for each drive motor based on the vehicle's required torque and the multiple equivalent operating mileages includes: The torque distribution ratio of each drive motor is determined based on the multiple equivalent operating mileages; The allocated torque for each drive motor is determined based on the torque distribution ratio and the required torque.

7. The method of claim 6, wherein, The step of determining the allocated torque for each drive motor based on the torque allocation ratio and the required torque includes: The target torque distribution ratio output by the vehicle controller is updated according to the torque distribution ratio. The allocated torque for each drive motor is determined based on the updated target torque allocation ratio and the required torque.

8. A vehicle control device characterized by comprising: Applied to a vehicle, the vehicle including multiple drive axles, the device includes: The acquisition module is used to acquire the operating data of the drive motor of each of the plurality of drive axles; the operating data includes at least one of motor torque, motor speed and motor temperature; The conversion module is used to determine the equivalent operating mileage of the drive motor based on the actual operating mileage of the vehicle and the operating data, and to obtain multiple equivalent operating mileages corresponding to the multiple drive axles respectively; The allocation module is used to determine the allocated torque for each drive motor based on the vehicle's required torque and the multiple equivalent operating mileages; The control module is used to control the plurality of drive motors to output corresponding allocated torques according to the allocated torques corresponding to each drive motor, so as to drive the vehicle.

9. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1-7.

10. A vehicle characterized by comprising: The vehicle includes the vehicle control device as described in claim 8.

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