Vehicle output torque distribution method, device, storage medium and vehicle

Abstract

The present invention discloses a method, device, storage medium, and vehicle for distributing vehicle output torque. The method comprises: obtaining driving data of a vehicle in power-assisted mode; determining the warm-up state of an engine in the vehicle based on the driving data; determining vehicle control data based on the warm-up state; and distributing output torque to the engine based on the control data. This invention addresses the technical problem of low output torque distribution efficiency.

Description

Technical Field

[0001] The present invention relates to the field of vehicles, and in particular to a method, a device, a storage medium and a vehicle for distributing output torque of a vehicle. Background Art

[0002] At present, hybrid vehicles have two power sources, the engine and the motor, to output torque. There are multiple operating modes for hybrid vehicles, including: pure electric drive, combined drive, and power source-only drive. If the torque distribution between the engine and the motor cannot be effectively carried out, it will affect the vehicle's driving control as well as the vehicle's dynamic and economic performance.

[0003] In related technologies, torque distribution control is usually performed based on a target command so that the actual torque of the input shaft is consistent with the target torque. However, the above method still has the technical problem of low torque distribution efficiency for the vehicle.

[0004] Currently, no effective solution has been proposed to the problem of low torque distribution efficiency of vehicles in the above-mentioned related technologies. Summary of the Invention

[0005] Embodiments of the present invention provide a method, device, storage medium, and vehicle for distributing output torque of a vehicle, so as to at least solve the technical problem of low output torque distribution efficiency.

[0006] According to one aspect of an embodiment of the present invention, a method for distributing output torque of a vehicle is provided, comprising: obtaining driving data of a vehicle driving in power-assisted mode; determining a warm-up state of an engine in the vehicle based on the driving data; determining control data of the vehicle based on the warm-up state; and distributing output torque to the engine based on the control data.

[0007] Optionally, determining the control data of the vehicle based on the warm-up state includes: obtaining the operating parameters of the vehicle in the power-assisted mode; determining the required torque of the vehicle based on the operating parameters; in response to the engine being in the warm-up state and the required torque being not greater than the torque corresponding to the engine in the torque external characteristic curve at the current speed, or in response to the engine being in the warmed-up state and the required torque being not greater than the torque corresponding to the engine in the torque external characteristic curve at the current speed, determining the first control data of the vehicle.

[0008] Optionally, allocating the output torque to the engine based on the control data includes determining the output torque of the engine as the required torque based on the first control data.

[0009] Optionally, the control data of the vehicle is determined based on the warm-up state of the engine, including: obtaining the operating parameters of the vehicle in the power-assisted mode; determining the required torque of the vehicle based on the operating parameters; in response to the engine being in the warm-up state and the required torque being greater than the torque corresponding to the engine in the torque external characteristic curve at the current speed, or in response to the engine being in the warmed-up state and the required torque being greater than the torque corresponding to the engine in the torque external characteristic curve at the current speed, determining the second control data of the vehicle.

[0010] Optionally, allocating the output torque to the engine based on the control data includes: determining the output torque of the engine as the output torque corresponding to the engine in the torque external characteristic curve at the current speed based on the second control data.

[0011] Alternatively, the output torque of the motor is determined as a difference between the required torque and the output torque of the engine based on the second control data.

[0012] According to another aspect of an embodiment of the present invention, a vehicle output torque distribution device is also provided, including: an acquisition unit for acquiring driving data of the vehicle in power-assisted mode; a first determination unit for determining the warm-up status of the engine in the vehicle based on the driving data; a second determination unit for determining the control data of the vehicle based on the warm-up status; and a distribution unit for distributing output torque to the engine based on the control data.

[0013] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device containing the computer-readable storage medium is controlled to execute the vehicle output torque distribution method according to an embodiment of the present invention.

[0014] According to another aspect of an embodiment of the present invention, a processor is provided, which is configured to run a program, wherein when the program is run, the method for distributing output torque of a vehicle according to an embodiment of the present invention is executed.

[0015] According to another aspect of an embodiment of the present invention, a vehicle is provided, which is used to execute the method for distributing output torque of a vehicle according to an embodiment of the present invention.

[0016] In an embodiment of the present invention, driving data of a vehicle in power-assisted mode is acquired; the warm-up state of the vehicle's engine is determined based on the driving data; vehicle control data is determined based on the warm-up state; and output torque is distributed to the engine based on the control data. In other words, the present invention calculates and distributes the output torque in power-assisted mode by comprehensively considering different operating regions, thereby achieving the technical effect of improving output torque distribution efficiency and resolving the technical problem of low output torque distribution efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0018] Figure 1 is a flow chart of a method for distributing output torque of a vehicle according to an embodiment of the present invention;

[0019] Figure 2 is a schematic diagram of a torque distribution control module in power-assist mode according to an embodiment of the present invention;

[0020] Figure 3 is a schematic diagram of an engine warm-up determination module according to an embodiment of the present invention;

[0021] Figure 4 is a schematic diagram of a motor assist torque limit calculation module according to an embodiment of the present invention;

[0022] Figure 5 is a schematic diagram of a parameter control setting module according to an embodiment of the present invention;

[0023] Figure 6 is a schematic diagram of an engine in a warm-up state and a required torque less than a torque external characteristic curve according to an embodiment of the present invention;

[0024] Figure 7 is a schematic diagram of an engine in a warm-up state and a required torque greater than a torque external characteristic curve according to an embodiment of the present invention;

[0025] Figure 8 is a schematic diagram of an engine in a warm-up state and a required torque greater than a torque external characteristic curve according to an embodiment of the present invention;

[0026] Figure 9 is a schematic diagram of an engine in a warm-up state and a required torque greater than a torque external characteristic curve according to an embodiment of the present invention;

[0027] Figure 10 is a schematic diagram of a post-processing module according to an embodiment of the present invention;

[0028] Figure 11 is a flow chart of a method for distributing torque in a power-assist mode during engine warm-up according to an embodiment of the present invention;

[0029] Figure 12 is a flowchart of torque distribution in power-assist mode when the engine is warmed up according to an embodiment of the present invention;

[0030] Figure 132 is a schematic diagram of an output torque distribution device for a vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0032] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0033] First, some nouns or terms that appear in the description of the embodiments of the present application are subject to the following interpretations:

[0034] The Hybrid Control Unit (HCU) is the vehicle controller of a hybrid vehicle and is used to coordinate and control the output of each power source, thereby controlling the vehicle's driving.

[0035] State of Charge (SOC) can be called the remaining power of the battery and can be expressed as the ratio of the remaining capacity to the battery capacity;

[0036] The Engine Management System (EMS) can include three major components: a controller, a sensor, and an actuator. It can be a gasoline engine management system.

[0037] The motor control unit (MCU) can be called the controller of the motor and is used to control the operating state of the motor.

[0038] Example 1

[0039] According to an embodiment of the present invention, an embodiment of a method for distributing the output torque of a vehicle is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0040] Figure 1 FIG. 1 is a flow chart of a method for distributing output torque of a vehicle according to an embodiment of the present invention. Figure 1 As shown, the method includes the following steps:

[0041] Step S102: Acquire driving data of the vehicle in the power-assisted mode.

[0042] In the technical solution provided in the above step S102 of the present invention, in the power-assisted mode, the vehicle's driving data is obtained, wherein the driving data may include the engine water temperature value, the hybrid mode flag, the engine operating status, the engine ready to stop status, the vehicle's operating speed and other data, which are only given as examples here and are not specifically limited.

[0043] Optionally, the engine water temperature value, engine operating status, and engine ready-to-stop status in the driving data can be obtained through the controller local area network, and the hybrid mode flag can be determined based on the signal generated after the vehicle control unit identifies the vehicle operating status. It can be 1 or 0. When the hybrid mode flag is 1, it indicates a hybrid power mode; when the hybrid mode flag is 0, it indicates a pure electric mode.

[0044] Optionally, the engine management system in the vehicle can transmit the engine water temperature value, engine operating status, and engine ready-to-stop status in the driving data to the vehicle control unit in the vehicle through the controller area network; the vehicle control unit identifies the vehicle status and determines the hybrid mode flag to obtain the vehicle's driving data in power-assisted mode.

[0045] Step S104: determining a warm-up state of an engine in the vehicle based on the driving data.

[0046] In the technical solution provided in the above step S104 of the present invention, the driving data is processed to determine the warm-up status of the engine in the vehicle. The engine warm-up status of the engine in the vehicle can be determined by the engine warm-up judgment module in the vehicle based on the driving data, wherein the engine warm-up status can be represented by an engine warm-up flag. When the engine warm-up flag is 1, it can be indicated that the engine is in the warm-up process; when the engine warm-up flag is 0, it can be indicated that the engine has completed warming up.

[0047] Optionally, when the vehicle is in power-assisted mode, when the engine water temperature value is less than the engine starting temperature value, and the hybrid mode flag is 1, and the engine running status is 1, and the engine ready to stop status is 0, it is determined that the engine is in the warm-up process, and the engine flag is 1, wherein the engine starting temperature value defaults to 41 degrees Celsius, and the engine starting temperature can be set according to actual needs; when the engine running status is 1, it indicates that the engine is running, and when the engine running status is 0, it indicates that the engine is stopped; when the engine ready to stop status is 1, it indicates that the engine is allowed to stop, and when the engine ready to stop status is 0, it indicates that the engine cannot stop.

[0048] Optionally, when the vehicle is in power-assisted mode, when the engine water temperature value is greater than the sum of the engine starting temperature value and the offset value, and the hybrid mode flag is 1, and the engine running state is 1, and the engine ready to stop state is 1, it can be determined that the engine is in the warm-up state, and the engine flag is 0, wherein the offset value can be a value set according to actual conditions, for example, it can be 5 degrees Celsius. This is only for example and is not specifically limited.

[0049] Optionally, driving data of the vehicle in power-assisted mode is obtained, and the engine warm-up judgment module in the vehicle judges the driving data. When the engine water temperature value is less than the engine starting temperature value, and the hybrid mode flag is 1, and the engine running state is 1, and the engine ready to stop state is 0, it is determined that the engine warm-up state is in the warm-up process; when the engine water temperature value is greater than the sum of the engine starting temperature value and the offset value, and the hybrid mode flag is 1, and the engine running state is 1, and the engine ready to stop state is 1, it can be determined that the engine warm-up state is the warmed-up state.

[0050] Step S106 : determining vehicle control data based on the warm-up state.

[0051] In the technical solution of the above-mentioned step S106 of the present invention, when the engine is in the warm-up process, the torque external characteristic of the engine is smaller than the torque external characteristic at normal temperature. At this time, the power system shows a larger torque output (that is, the driver has a greater driving demand), and it is necessary to use the motor in the vehicle for assistance, which involves the output torque distribution method of the vehicle under the engine warm-up condition, and the control data of the vehicle is determined based on the warm-up state of the vehicle.

[0052] Optionally, when the vehicle is in power-assisted mode, when it is determined that the engine is in a warm-up state or has been warmed up, control data of the vehicle can be determined based on the power-assisted mode torque distribution module, wherein the control data can be used to control the vehicle to distribute output torque.

[0053] Step S108: Distribute output torque to the engine based on the control data.

[0054] In the technical solution of step S108 of the present invention, the output torque can be distributed to the engine based on the control data through the parameter control setting module.

[0055] Optionally, the output torque of the motor can be controlled by the motor mode through the parameter control setting module; the output torque of the engine can be controlled by the engine mode; the effectiveness of the engine injection control instruction can be controlled by the engine injection mode; and the effectiveness of the clutch switch state control instruction can be controlled by the clutch state.

[0056] Optionally, the output torque allocated to the engine is determined based on the control data, and the engine mode in the parameter control setting module can be sent by the engine management system to the vehicle control unit through the controller area network to realize the allocation of output torque to the engine based on the control data.

[0057] Optionally, the motor mode in the parameter control setting module can be sent by the motor controller to the vehicle control unit through the controller area network; the engine injection mode can be sent by the engine management system to the vehicle control unit through the controller area network; the clutch status is sent by the transmission controller to the vehicle control unit through the controller area network.

[0058] In steps S102 to S108 of the present application, the process involves obtaining driving data of the vehicle in power-assisted mode; determining the warm-up state of the vehicle's engine based on the driving data; determining vehicle control data based on the warm-up state; and allocating output torque to the engine based on the control data. In other words, the present invention calculates and allocates the output torque in power-assisted mode by comprehensively considering different operating regions, thereby achieving the technical effect of improving output torque distribution efficiency and resolving the technical problem of low output torque distribution efficiency.

[0059] The above method of this embodiment is further introduced below.

[0060] As an optional embodiment, step S108 determines the control data of the vehicle based on the warm-up state, including: obtaining the operating parameters of the vehicle in the power-assisted mode; determining the required torque of the vehicle based on the operating parameters; in response to the engine being in the warm-up state and the required torque being not greater than the torque corresponding to the engine in the torque external characteristic curve at the current speed, or in response to the engine being in the warmed-up state and the required torque being not greater than the torque corresponding to the engine in the torque external characteristic curve at the current speed, determining the first control data of the vehicle.

[0061] In this embodiment, the operating parameters of the vehicle in the power-assisted mode are obtained, and the required torque of the vehicle is determined based on the operating parameters, wherein the operating parameters can be vehicle parameters such as the vehicle's shifting operation, accelerator pedal, brake pedal, and vehicle speed; the required torque can be the output torque of the power system.

[0062] Optionally, the vehicle control unit may perform a comprehensive calculation based on vehicle parameters such as the vehicle's gear shifting operation, accelerator pedal, brake pedal, and vehicle speed to determine the vehicle's required torque.

[0063] Optionally, the warm-up state of the engine is determined. When the warm-up flag of the engine is 1 (i.e., the engine is in the warm-up process), the torque external characteristic curve of the engine in the warm-up state is determined, and it is judged whether the required torque is greater than the torque corresponding to the engine in the torque external characteristic curve at the current speed. In response to the engine being in the warm-up state and the required torque being not greater than the torque corresponding to the engine in the torque external characteristic curve at the current speed, the control data is determined to be the first control data, wherein the torque external characteristic curve can be determined by looking up a table based on the engine speed.

[0064] Optionally, the warm-up state of the engine is determined. When the warm-up flag of the engine is 0 (i.e., the engine is in the warm-up state), the torque external characteristic curve of the engine in the warm-up state is determined, and it is judged whether the required torque is greater than the torque corresponding to the engine in the torque external characteristic curve at the current speed. In response to the engine being in the warm-up state and the required torque being not greater than the torque corresponding to the engine in the torque external characteristic curve at the current speed, the control data is determined to be the first control data.

[0065] As an optional embodiment, allocating the output torque to the engine based on the control data includes: determining the output torque of the engine as the required torque based on the first control data.

[0066] In this embodiment, if the control data is determined to be the first control data, the output torque is distributed to the engine based on the first control data, wherein the first control data may include: determining the output torque of the engine as the required torque.

[0067] Optionally, if the control data is determined to be the first control data, the power assist mode torque distribution module is used to control the output torque of the engine to be the same as the required torque.

[0068] As an optional embodiment, step S108 determines the control data of the vehicle based on the warm-up state of the engine, including: obtaining the operating parameters of the vehicle in the power-assisted mode; determining the required torque of the vehicle based on the operating parameters; in response to the engine being in the warm-up state and the required torque being greater than the torque corresponding to the engine in the torque external characteristic curve at the current speed, or in response to the engine being in the warmed-up state and the required torque being greater than the torque corresponding to the engine in the torque external characteristic curve at the current speed, determining the second control data of the vehicle.

[0069] In this embodiment, the operating parameters of the vehicle in the power-assisted mode are obtained, and the required torque of the vehicle is determined based on the operating parameters, wherein the operating parameters can be vehicle parameters such as the vehicle's shifting operation, accelerator pedal, brake pedal, and vehicle speed; the required torque can be the output torque of the power system.

[0070] Optionally, the vehicle control unit may perform a comprehensive calculation based on vehicle parameters such as the vehicle's gear shifting operation, accelerator pedal, brake pedal, and vehicle speed to determine the vehicle's required torque.

[0071] Optionally, the warm-up state of the engine is determined. When the warm-up flag of the engine is 1 (i.e., the engine is in the warm-up process), the torque external characteristic curve of the engine in the warm-up state is determined, and it is judged whether the required torque is greater than the torque corresponding to the engine in the torque external characteristic curve at the current speed. In response to the engine being in the warm-up state and the required torque being greater than the torque corresponding to the engine in the torque external characteristic curve at the current speed, the control data is determined to be the second control data, wherein the torque external characteristic curve can be determined by looking up a table based on the engine speed.

[0072] Optionally, the warm-up state of the engine is determined. When the warm-up flag of the engine is 0 (i.e., the engine is in a warm-up state), the torque external characteristic curve of the engine in the warm-up state is determined, and it is judged whether the required torque is greater than the torque corresponding to the engine in the torque external characteristic curve at the current speed. In response to the engine being in a warm-up state and the required torque being greater than the torque corresponding to the engine in the torque external characteristic curve at the current speed, the control data is determined to be the second control data.

[0073] As an optional embodiment, allocating the output torque to the engine based on the control data includes: determining the output torque of the engine as the output torque corresponding to the engine in the torque external characteristic curve at the current speed based on the second control data.

[0074] In this embodiment, if the control data is determined to be the second control data, the output torque is allocated to the engine based on the second control data, wherein the second control data may include: determining the output torque of the engine as the output torque corresponding to the engine in the torque external characteristic curve at the current speed.

[0075] Optionally, if the control data is determined to be the second control data, the power assist mode torque distribution module is used to control the output torque of the engine to be the same as the output torque corresponding to the engine in the torque external characteristic curve at the current speed.

[0076] In this embodiment, after controlling the output torque of the engine to be the same as the output torque corresponding to the engine in the torque external characteristic curve at the current speed, the output torque of the engine is processed by the post-processing module to avoid the problem of unstable results due to the output torque of the engine rising or falling too quickly.

[0077] Optionally, the slope of the change in the engine's output torque can be limited by the post-processing module, which can be as follows: limiting the rising slope of the engine's output torque to be less than the positive maximum value, where the positive maximum value can be represented by E1, which can be a value set according to actual conditions; limiting the falling slope of the engine's output torque to be greater than the negative minimum value, where the negative minimum value can be represented by E2, which can be a negative minimum value set according to actual conditions. It should be noted that the absolute value of the set positive maximum value needs to be greater than the absolute value of the negative minimum value.

[0078] As an optional embodiment, the output torque of the motor is determined as the difference between the required torque and the output torque of the engine based on the second control data.

[0079] In this embodiment, if the control data is determined to be the second control data, the output torque is allocated to the motor based on the second control data, wherein the second control data may include: determining the output torque of the motor as the difference between the required torque and the output torque of the engine.

[0080] Optionally, if the control data is determined to be the second control data, the power-assist mode torque distribution module is used to control the output torque of the engine to be the same as the output torque corresponding to the engine in the torque external characteristic curve at the current speed, determine the output torque of the engine, calculate the difference between the required torque and the output torque of the engine, and determine the difference between the required torque and the output torque of the engine as the output torque of the motor. The calculated output torque can be distributed to the motor using the motor mode in the parameter control setting module.

[0081] In this embodiment, after the calculated output torque is distributed to the motor, the output torque of the motor is processed by a post-processing module to avoid the problem of unstable results caused by the output torque of the motor rising or falling too quickly.

[0082] Optionally, the slope of the change in the output torque of the motor is limited by the post-processing module, which can be as follows: limiting the rising slope of the output torque of the motor to be less than the positive maximum value, wherein the positive maximum value can be represented by M1, which can be the positive maximum value set according to actual conditions; limiting the falling slope of the output torque of the motor to be greater than the negative minimum value, wherein the negative minimum value can be represented by M2, which can be the negative minimum value set according to actual conditions. It should be noted that the absolute value of the set positive maximum value needs to be greater than the absolute value of the negative minimum value.

[0083] In this embodiment, based on the post-processing calculation module, the output torque of the engine and the motor is ensured to not jump, and the accurate calculation and effective control of the multi-power output distribution are achieved.

[0084] As an optional embodiment, status data of the motor is obtained; a threshold value of the output torque of the motor is determined based on the status data; in response to the output torque being greater than the threshold value, the output torque is changed to the threshold value, and a prompt message is output, wherein the prompt message is used to indicate that the output torque is greater than the threshold value.

[0085] In this embodiment, the status data of the motor is obtained, and the threshold value of the output torque of the motor is determined based on the obtained status data of the motor, wherein the status data of the motor may be data such as the electrical status of the high-voltage battery, the charge state threshold of the power-assisting battery, etc.; the threshold value of the output torque may be the motor power-assisting torque limit.

[0086] Optionally, in the power-assist mode, the state data of the motor is obtained, and the state data of the motor can be processed by the motor power-assist torque limit calculation module to obtain the motor power-assist torque limit, which can be: when the state of charge of the high-voltage battery is greater than the state of charge threshold of the power-assist battery, the motor power-assist torque limit is determined as the maximum continuous torque of the motor in the current state, wherein the maximum continuous torque of the motor can be determined by the ignition control curve (MAP) of speed and torque; when the state of charge of the high-voltage battery is less than the difference between the state of charge threshold of the power-assist battery and the offset value, the motor power-assist torque limit is determined as the maximum continuous torque of the motor in the current state, wherein the offset value can be a value set according to the design situation.

[0087] Optionally, in the motor assist torque limit calculation module, the state of charge of the high-voltage battery and the state of charge threshold of the assist battery in the motor status data can be sent to the vehicle control unit through the controller local area network for the battery management system; the maximum continuous torque of the motor can be sent to the vehicle control unit through the controller local area network for the motor controller.

[0088] In this embodiment, a threshold value of the output torque of the motor is determined. When the output torque of the motor is greater than the threshold value, the output torque is changed to be the same as the threshold value, and a prompt message is output, wherein the prompt message can be used to prompt that the output torque is greater than the threshold value.

[0089] Optionally, the motor torque output torque cannot exceed the threshold calculated in the motor assist torque limit calculation module. If the erroneous control exceeds the threshold, a prompt message is issued. For example, the instrument panel may display a message such as "power system capacity is limited" to remind the user that the output torque is greater than the threshold and not to over-step on the accelerator pedal.

[0090] This embodiment obtains driving data from a vehicle in power-assisted mode; determines the warm-up state of the vehicle's engine based on the driving data; determines vehicle control data based on the warm-up state; and distributes output torque to the engine based on the control data. In other words, the present invention comprehensively considers different operating zones when the vehicle is in power-assisted mode and calculates and distributes the output torque in the power-assisted mode, thereby achieving the technical effect of improving output torque distribution efficiency and resolving the technical problem of low output torque distribution efficiency.

[0091] Example 2

[0092] The technical solutions of the embodiments of the present invention are described below with reference to preferred implementation methods.

[0093] At present, hybrid vehicles have good power and economy, and are being promoted and developed by more and more automobile manufacturers. Hybrid vehicles are mainly cars that obtain power transmission from electric drive systems and engines. Based on the coordinated control of motor and engine torque distribution, they can not only achieve a larger driving torque output, but also optimize the engine's working area, ultimately reducing fuel consumption and emissions, and achieving the goal of energy conservation and emission reduction.

[0094] There are many operating modes for hybrid vehicles, including: pure electric drive, combined drive, and power source alone. Since hybrid vehicles have two power sources, the engine and the motor, to output torque, if the torque between the engine and the motor cannot be effectively distributed, it will affect the vehicle's driving control as well as the vehicle's dynamics and economy. Therefore, different torque distribution control strategies should exist between each mode.

[0095] In order to use different torque distribution control strategies between each mode, a hybrid vehicle drive shaft torque analysis control method is disclosed in the related art. This method is based on the driver's torque identification and the control of the vehicle's driving mode to obtain the optimal torque distribution of the engine and the motor in the series and parallel modes to improve fuel economy. However, the above method is only based on the driver's torque identification and the control of the vehicle's driving mode to obtain the optimal torque distribution of the engine and the motor in the series and parallel modes to improve fuel economy. However, in the power-assisted mode, there is still a problem of being unable to reasonably calculate and distribute the torque.

[0096] Also disclosed in the related art is a torque distribution control method for a power-split hybrid system. This method calculates the expected output speed and expected output torque of the small motor, large motor and engine based on the dynamic equations of the planetary gear mechanism, and sends the expected output speed and expected output torque to the corresponding controller for execution. Although this method can improve system efficiency, it still has the technical problem of being unable to perform specific torque calculation algorithms and distribution control in the power-assist mode, resulting in low control efficiency of the vehicle during braking.

[0097] Related technologies also disclose a method for distributing power source torque for plug-in hybrid electric vehicles. This method provides residual torque to the input shaft by limiting the torque change rate of the engine, thereby solving the power interruption problem in order to avoid slow torque changes caused by slow torque response of the engine. However, there is still a technical problem of being unable to perform specific torque calculation algorithms and distribution control in power-assist mode, resulting in low control efficiency of the vehicle during braking.

[0098] To sum up, in the relevant technologies, the needs of the power system input shaft are mainly considered, and the distribution control of torque increase and torque reduction is performed based on the target instruction, so that the actual torque of the input shaft is consistent with the target torque, but none of them involves the torque distribution and control in the power system power assist mode, especially the torque calculation and control method in the power assist mode. Therefore, there is a problem that the torque distribution in the power system power assist mode cannot be accurately and effectively performed.

[0099] To solve the above problems, this application takes the torque distribution control in the power-assisted mode of hybrid vehicles as the consideration point and designs a torque distribution control module in the power-assisted mode based on the torque demand. Figure 2 FIG. 1 is a schematic diagram of a torque distribution control module in a power assist mode according to an embodiment of the present invention. Figure 2As shown, the torque distribution control module in the power-assisted mode may include: an engine warm-up judgment module 201, a motor power-assisted torque limit calculation module 202, a parameter control setting module 203, a power system power-assisted mode torque distribution module 204 and a post-processing calculation module 205. By utilizing the above five control modules, the different influencing factors of the vehicle in the power-assisted mode are fully considered in the process of torque distribution, thereby controlling the torque distribution of the power source. According to the operating characteristics of hybrid vehicles, this application fully considers the torque distribution in different workload areas, so that the torque distribution in the power-assisted mode can be more effectively and reasonably controlled, thereby improving the driving smoothness of the vehicle and ensuring the balanced use of energy of the vehicle.

[0100] In this embodiment, the vehicle control unit (HCU) serves as the core controller of the hybrid vehicle. During vehicle driving, the vehicle control unit needs to coordinate with the engine management system, motor controller, battery management system, and transmission controller to execute the above-mentioned five control modules to achieve torque distribution control of the hybrid vehicle in power-assisted mode.

[0101] In this embodiment, Figure 3 is a schematic diagram of an engine warm-up judgment module according to an embodiment of the present invention. Figure 3 As shown, the engine warm-up determination module 201 determines the engine warm-up flag based on the engine water temperature value, the hybrid mode flag, the engine running state and the engine ready to stop, and determines the engine warm-up state based on the engine warm-up flag.

[0102] Optionally, in the power-assist mode, when the engine water temperature value is less than the engine starting temperature value, and the hybrid mode flag is 1, the engine running state is 1, and the engine ready-to-stop state is 0, the engine flag is determined to be 1, that is, the engine is in the warm-up process. At this time, the engine's torque external characteristics are smaller than the torque external characteristics range at normal temperature. If the power system exhibits a larger output torque at this time (that is, the driver has a greater driving demand), then the motor needs to be used for power assistance, which involves the distribution and control of the vehicle's power-assist mode torque under the engine warm-up condition, wherein the engine starting temperature value defaults to 41 degrees Celsius; when the hybrid mode flag is 1, it indicates that it is in hybrid power mode, and when the hybrid mode flag is 0, it indicates that it is in pure electric mode; when the engine running state is 1, it indicates that the engine is running, and when the engine running state is 0, it indicates that the engine is stopped; when the engine ready-to-stop state is 1, it indicates that the engine can be allowed to stop, and when the engine ready-to-stop state is 0, it indicates that the engine cannot be stopped.

[0103] Optionally, in the power-assist mode, when the engine water temperature value is greater than the sum of the engine starting temperature value and the offset value, and the hybrid mode flag is 1, and the engine running status is 1, and the engine ready to stop is 1, the engine flag is determined to be 0, that is, the engine has completed warm-up.

[0104] Optionally, in the engine warm-up judgment module, the three signals of engine water temperature value, engine operating status, and engine ready to shut down are obtained by the engine management system sent to the vehicle control unit through the controller area network (Controller Area Network, abbreviated as CAN). The hybrid flag is a signal generated after the vehicle status is identified inside the vehicle control unit.

[0105] In this embodiment, Figure 4 is a schematic diagram of a motor assist torque limit calculation module according to an embodiment of the present invention, such as Figure 4 As shown, the motor assist torque limit calculation module 202 determines the motor assist torque limit based on the state of charge of the high-voltage battery, the state of charge threshold of the assist battery, and the maximum continuous torque of the motor.

[0106] Optionally, when the state of charge of the high-voltage battery is greater than the state of charge threshold of the boost battery, the motor assist torque limit is determined as the motor maximum continuous torque 1, wherein the motor maximum continuous torque can be determined by the ignition control curve map (MAP) of speed and torque.

[0107] Optionally, when the state of charge of the high-voltage battery is less than the state of charge threshold of the power-assisting battery minus the offset value Y, the motor power-assisting torque limit = the motor maximum continuous torque 2, wherein the offset value can be set according to actual conditions.

[0108] Optionally, in the motor assist torque limit calculation module, the two signals of the high-voltage battery's state of charge and the assist battery's state of charge threshold are sent by the battery management system to the vehicle control unit through the controller local area network, and the motor's maximum continuous torque is sent by the motor controller to the vehicle control unit through the controller local area network.

[0109] In this embodiment, Figure 5 is a schematic diagram of a parameter control setting module according to an embodiment of the present invention, such as Figure 5 As shown, in the power-assist mode, the parameter control setting module 203 is used to control the size of the output torque, and the motor mode is used to control the output torque of the motor; the engine mode is used to control the output torque of the engine; the engine injection mode is used to control the engine injection control instructions; and the clutch state mode is used to control the clutch switch state control instructions.

[0110] Optionally, in the parameter control setting module, the motor mode is sent by the motor controller to the vehicle control unit through the controller local area network, the engine mode and engine injection are sent by the engine management system to the vehicle control unit through the controller local area network, and the clutch status is sent by the transmission controller to the vehicle control unit through the controller local area network.

[0111] In this embodiment, the power assist mode torque distribution module 204 controls the torque distribution in the power assist mode.

[0112] Optionally, Figure 6 is a schematic diagram of an engine in a warm-up state and a required torque less than a torque external characteristic curve according to an embodiment of the present invention, such as Figure 6 As shown, the solid triangle represents the driver's required torque point, where the driver's required torque is calculated by the vehicle control unit based on the driver's shift operation, accelerator pedal, brake pedal, vehicle speed and other vehicle parameters. When the engine warm-up flag is 1 and the driver's required torque is less than the torque characteristic curve, for example Figure 6 When the torque corresponding to the speed at this moment on the first characteristic curve (Engine CUR1) in FIG, the engine output torque is controlled to be the driver's required torque; the motor output torque is controlled not to be output.

[0113] Optionally, Figure 7 This is a schematic diagram of an engine in a warm-up state and a torque requirement greater than a torque external characteristic curve according to an embodiment of the present invention. The solid triangle represents the driver's required torque point, and the solid circle represents the engine torque output point. When the engine warm-up flag in the engine warm-up determination module is 0, the torque external characteristic curve after the engine warm-up is obtained by looking up the engine speed table. For example, Figure 7 The second characteristic curve Engine CUR2 in the figure has a larger torque value than Engine CUR1, and the engine output torque is controlled to be the specific torque value corresponding to the speed under the first characteristic curve; the motor output torque is controlled to be the difference between the driver's demand torque and the engine torque output.

[0114] It should be noted that the motor output torque cannot exceed the result in the motor assist torque limit calculation module. If the miscontrol exceeds the specified value, the instrument will display words such as "power system capacity is limited" to remind the driver not to over-step on the accelerator pedal.

[0115] Optionally, Figure 8 is a schematic diagram of an engine in a warm-up state and a required torque greater than a torque external characteristic curve according to an embodiment of the present invention, such as Figure 8As shown, when the engine warm-up flag is 0 and the driver's required torque is less than the torque value corresponding to the second characteristic curve (Engine CUR2) when the engine is warmed up, the parameter control module controls the engine's output torque to be the driver's required torque; the motor output torque is not output.

[0116] Optionally, Figure 9 is a schematic diagram of an engine in a warm-up state and a required torque greater than a torque external characteristic curve according to an embodiment of the present invention, such as Figure 9 As shown, when the engine warm-up flag is 0 and the driver's required torque is greater than the torque value corresponding to the second characteristic curve (Engine CUR2) in the warm-up state, the parameter control module controls the engine output torque to be the specific torque value corresponding to the speed under the second characteristic curve; and controls the motor output torque to be the difference between the driver's required torque and the engine torque output.

[0117] It should be noted that the motor output torque cannot exceed the result in the motor assist torque limit calculation module. If the miscontrol exceeds the specified value, the instrument will display words such as "power system capacity is limited" to remind the driver not to over-step on the accelerator pedal.

[0118] In this embodiment, in order to meet the driver's torque demand, in the process of controlling the power source torque distribution output, in order to prevent the torque of the engine and motor from rising and falling too quickly, the post-processing module 205 limits the change slope thereof.

[0119] Optionally, Figure 10 is a schematic diagram of a post-processing module according to an embodiment of the present invention, such as Figure 10 As shown, the change slope of the engine and the motor is limited by the post-processing module: when the engine torque increases, the engine torque increase slope value is controlled to be less than E1, wherein E1 is the positive maximum value, which can be a value set according to actual conditions; when the engine torque decreases, the engine torque decrease slope value is controlled to be greater than E2, wherein E2 is the negative minimum value, which can be a value set according to actual conditions, and the absolute value of E1 is greater than the absolute value of E2; when the motor torque increases, the motor torque increase slope value is controlled to be less than M1, wherein M1 is the positive maximum value, which can be a value set according to actual conditions; when the motor torque decreases, the motor torque decrease slope value is controlled to be greater than M2, wherein M2 is the negative minimum value, which can be a value set according to actual conditions, and the absolute value of M1 is greater than the absolute value of M2.

[0120] This application designs a torque distribution control method for the power system assist mode by taking into account the engine warm-up state, motor assist torque limit, and power source parameter control, and based on the post-processing calculation module, ensures that the engine and motor torque output do not jump, and realizes the accurate calculation and effective control of the torque distribution output of multiple power sources.

[0121] The present application will be further described below through specific embodiments.

[0122] Figure 11 FIG. 1 is a flow chart of a method for distributing torque in a power assist mode during engine warm-up according to an embodiment of the present invention. Figure 11 As shown, the torque distribution steps in the power-assist mode when the engine is warm may include:

[0123] Step S1101, the engine flag is 1.

[0124] Determine whether the engine flag is 1. If the flag is 1, it means that the engine is in a warm-up state. Determine the torque external characteristic curve in the warm-up state, that is, the first characteristic curve (Engine CUR1).

[0125] Step S1102 , determining whether the driver's required torque is greater than the first characteristic curve.

[0126] The vehicle control unit calculates the required torque based on the driver's gear shifting operation, accelerator pedal, brake pedal, vehicle speed and other vehicle parameters, and determines whether the required torque is greater than the torque corresponding to the first characteristic curve. If so, step S1103 is implemented; if not, step S1107 is implemented.

[0127] Step S1103 : controlling the engine output torque to be a specific torque value corresponding to the speed under the first characteristic curve.

[0128] When the required torque is greater than the torque corresponding to the first characteristic curve, the engine output torque is controlled to be a specific torque value corresponding to the speed under the first characteristic curve.

[0129] Step S1104 : Control the motor output torque to be the difference between the driver's required torque and the engine output torque.

[0130] When the required torque is greater than the torque corresponding to the first characteristic curve, the engine output torque is controlled to be a specific torque value corresponding to the speed under the first characteristic curve.

[0131] Step S1105: performing slope change processing on the engine output torque.

[0132] The engine output torque is processed for slope change. When the engine torque increases, the engine torque increase slope value is controlled to be less than E1, where E1 is the positive maximum value and can be a value set according to actual conditions. When the engine torque decreases, the engine torque decrease slope value is controlled to be greater than E2, where E2 is the negative minimum value and can be a value set according to actual conditions, and the absolute value of E1 is greater than the absolute value of E2.

[0133] Step S1106: performing slope change processing on the motor output torque.

[0134] The output torque of the motor is processed with a slope change. When the motor torque increases, the slope value of the motor torque increase is controlled to be less than M1, where M1 is the positive maximum value and can be a value set according to actual conditions. When the motor torque decreases, the slope value of the motor torque decrease is controlled to be greater than M2, where M2 is the negative minimum value and can be a value set according to actual conditions. The absolute value of M1 is greater than the absolute value of M2.

[0135] Step S1107: Determine the engine output torque as the driver's required torque.

[0136] Determine whether the driver's required torque is greater than the torque corresponding to the first characteristic curve. When the required torque is not greater than the torque corresponding to the first characteristic curve, determine the engine's output torque as the driver's required torque. In order to avoid the engine's output torque rising and falling too quickly and causing a jump, implement step S1105 and use the post-processing module to perform slope change processing on the engine's output torque.

[0137] Step S1108: The motor output torque is not output.

[0138] When the required torque is not greater than the torque corresponding to the first characteristic curve, the output torque of the motor is determined to be 0, that is, the output torque is not allocated to the motor.

[0139] Figure 12 FIG. 1 is a flow chart of torque distribution in power assist mode when the engine is warmed up according to an embodiment of the present invention. Figure 12 As shown, the torque distribution steps in the power-assist mode when the engine is warm may include:

[0140] Step S1201: the engine flag is 0.

[0141] Determine whether the engine flag is 0. If the flag is 0, it means that the engine is in a warm-up state. Determine the torque external characteristic curve in the warm-up state, that is, the second characteristic curve (Engine CUR2).

[0142] Step S1202: Determine whether the driver's required torque is greater than the second characteristic curve.

[0143] The vehicle control unit calculates the required torque based on the driver's gear shifting operation, accelerator pedal, brake pedal, vehicle speed and other vehicle parameters, and determines whether the required torque is greater than the torque corresponding to the torque external characteristic curve. If so, step S1203 is implemented, otherwise step S1207 is implemented.

[0144] Step S1203: Control the engine output torque to a specific torque value corresponding to the speed under the second characteristic curve.

[0145] When the required torque is greater than the torque corresponding to the second characteristic curve, the engine output torque is controlled to be a specific torque value corresponding to the speed under the second characteristic curve.

[0146] Step S1204 : Control the motor output torque to be the difference between the driver's required torque and the engine output torque.

[0147] When the required torque is greater than the torque corresponding to the second characteristic curve, the engine output torque is controlled to be a specific torque value corresponding to the speed under the second characteristic curve.

[0148] Step S1205: performing slope change processing on the engine output torque.

[0149] The engine output torque is processed for slope change. When the engine torque increases, the engine torque increase slope value is controlled to be less than E1, where E1 is the positive maximum value and can be a value set according to actual conditions. When the engine torque decreases, the engine torque decrease slope value is controlled to be greater than E2, where E2 is the negative minimum value and can be a value set according to actual conditions, and the absolute value of E1 is greater than the absolute value of E2.

[0150] Step S1206: performing slope change processing on the motor output torque.

[0151] The output torque of the motor is processed with a slope change. When the motor torque increases, the slope value of the motor torque increase is controlled to be less than M1, where M1 is the positive maximum value and can be a value set according to actual conditions. When the motor torque decreases, the slope value of the motor torque decrease is controlled to be greater than M2, where M2 is the negative minimum value and can be a value set according to actual conditions. The absolute value of M1 is greater than the absolute value of M2.

[0152] Step S1207: Determine the engine output torque as the driver's required torque.

[0153] Determine whether the driver's required torque is greater than the torque corresponding to the second characteristic curve. When the required torque is not greater than the torque corresponding to the second characteristic curve, determine the engine's output torque as the driver's required torque. In order to avoid the engine's output torque rising and falling too quickly and causing a jump, implement step S1205 and use the post-processing module to perform slope change processing on the engine's output torque.

[0154] Step S1208: The motor output torque is not output.

[0155] When the required torque is not greater than the torque corresponding to the second characteristic curve, the output torque of the motor is determined to be 0, that is, the output torque is not allocated to the motor.

[0156] It should be noted that the present application can control the torque distribution of the power system through the motor controller, or through the coordinated control judgment of the vehicle control unit. However, since controlling the torque distribution of the power system through the motor controller will increase the workload of the motor controller, and the motor controller needs to collect more signals, the coordinated control judgment of the vehicle control unit is more comprehensive, and can also obtain the operating status signals of each power source, and comprehensively give calculations and judgments. Therefore, the present application adopts the vehicle control unit to coordinate the control of the torque distribution in the power-assist mode.

[0157] Example 3

[0158] According to an embodiment of the present invention, a vehicle output torque distribution device is further provided. It should be noted that the vehicle output torque distribution device can be used to execute the vehicle output torque distribution method in embodiment 1.

[0159] Figure 13 FIG. 1 is a schematic diagram of an output torque distribution device for a vehicle according to an embodiment of the present invention. Figure 13 As shown, the output torque distribution device 1300 of the vehicle may include: an acquisition unit 1301 , a first determination unit 1302 , a second determination unit 1303 and a distribution unit 1304 .

[0160] The acquisition unit 1301 is used to acquire driving data of the vehicle in the power-assisted mode.

[0161] The first determining unit 1302 is configured to determine a warm-up state of an engine in the vehicle based on the driving data.

[0162] The second determining unit 1303 is configured to determine vehicle control data based on the warm-up state.

[0163] The allocating unit 1304 is configured to allocate the output torque to the engine based on the control data.

[0164] Optionally, the first determination unit 1302 includes: a first processing module for obtaining operating parameters of the vehicle in the power-assisted mode; determining the required torque of the vehicle based on the operating parameters; and determining the first control data of the vehicle in response to the engine being in a warm-up state and the required torque being not greater than the torque corresponding to the engine in the torque external characteristic curve at the current speed, or in response to the engine being in a warm-up state and the required torque being not greater than the torque corresponding to the engine in the torque external characteristic curve at the current speed.

[0165] Optionally, the first processing module includes: a first determining submodule, configured to determine the output torque of the engine as the required torque based on the first control data.

[0166] Optionally, the first determination unit 1302 includes: a second processing module for obtaining operating parameters of the vehicle in the power-assisted mode; determining the required torque of the vehicle based on the operating parameters; and determining second control data of the vehicle in response to the engine being in a warm-up state and the required torque being greater than the torque corresponding to the engine in the torque external characteristic curve at the current speed, or in response to the engine being in a warm-up state and the required torque being greater than the torque corresponding to the engine in the torque external characteristic curve at the current speed.

[0167] Optionally, the second processing module includes: a second determining submodule, configured to determine the output torque of the engine as the output torque corresponding to the engine in the torque external characteristic curve at the current speed based on the second control data.

[0168] Optionally, the second processing module includes: a third determining submodule, configured to determine the output torque of the motor as a difference between the required torque and the output torque of the engine based on the second control data.

[0169] Optionally, the second processing module includes: a first processing sub-module, used to obtain status data of the motor; determine a threshold value of the output torque of the motor based on the status data; in response to the output torque being greater than the threshold value, change the output torque to the threshold value and output a prompt message, wherein the prompt message is used to prompt that the output torque is greater than the threshold value.

[0170] In an embodiment of the present invention, driving data of a vehicle traveling in power-assisted mode is obtained through an acquisition unit; a warm-up state of an engine in the vehicle is determined based on the driving data through a first determination unit; control data of the vehicle is determined based on the warm-up state through a second determination unit; and output torque is distributed to the engine based on the control data through a distribution unit, thereby achieving a technical effect of improving the output torque distribution efficiency and solving the technical problem of low output torque distribution efficiency.

[0171] Example 4

[0172] According to an embodiment of the present invention, a computer-readable storage medium is further provided. The storage medium includes a stored program, wherein the program executes the output torque distribution method for the vehicle described in Example 1.

[0173] Example 5

[0174] According to an embodiment of the present invention, a processor is further provided, which is used to run a program, wherein the vehicle output torque distribution method described in Example 1 is executed when the program is run.

[0175] Example 6

[0176] According to an embodiment of the present invention, a vehicle is further provided. The vehicle is used to execute the method for distributing output torque of the vehicle according to an embodiment of the present invention.

[0177] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0178] In the above embodiments of the present invention, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0179] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0180] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0181] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0182] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk, etc. Various media that can store program codes.

[0183] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A method for distributing output torque of a vehicle, characterized in that: include: Obtaining driving data of the vehicle in power-assisted mode; determining a warm-up state of an engine in the vehicle based on the driving data; determining control data of the vehicle based on the warm-up state; distributing the output torque to the engine based on the control data; Determining the control data of the vehicle based on the warm-up state includes: acquiring operating parameters of the vehicle in the power-assist mode; determining a required torque of the vehicle based on the operating parameters; determining first control data of the vehicle in response to the engine being in the warm-up state and the required torque being not greater than a torque corresponding to the engine in a torque external characteristic curve at a current speed, or in response to the engine being in a warmed-up state and the required torque being not greater than a torque corresponding to the engine in a torque external characteristic curve at a current speed; determining second control data of the vehicle in response to the engine being in the warm-up state and the required torque being greater than a torque corresponding to the engine in a torque external characteristic curve at a current speed, or in response to the engine being in a warmed-up state and the required torque being greater than a torque corresponding to the engine in a torque external characteristic curve at a current speed; Allocating the output torque to the engine based on the control data includes: determining the output torque of the engine as the required torque based on the first control data; determining the output torque of the engine as the output torque corresponding to the engine in a torque external characteristic curve at a current speed based on the second control data; The method further includes: determining the output torque of the motor as a difference between the required torque and the output torque of the engine based on the second control data; The method also includes: limiting the rising slope of the output torque of the engine to be less than a first positive maximum value, and limiting the falling slope of the output torque of the engine to be greater than a first negative minimum value, wherein the absolute value of the first positive maximum value is greater than the absolute value of the first negative minimum value; limiting the rising slope of the output torque of the motor to be less than a second positive maximum value, and limiting the falling slope of the output torque of the motor to be greater than a second negative minimum value, wherein the absolute value of the second positive maximum value is greater than the absolute value of the second negative minimum value.

2. The method according to claim 1, characterized in that The method further comprises: Acquiring status data of the motor; determining a threshold value of the output torque of the motor based on the status data; In response to the output torque being greater than the threshold, the output torque is changed to the threshold, and a prompt message is output, wherein the prompt message is used to prompt that the output torque is greater than the threshold.

3. A vehicle output torque distribution device, characterized in that: include: an acquisition unit, for acquiring driving data of the vehicle in the power-assisted mode; a first determining unit, configured to determine a warm-up state of an engine in the vehicle based on the driving data; a second determining unit, configured to determine control data of the vehicle based on the warm-up state; a distribution unit for distributing the output torque to the engine based on the control data; The second determining unit is further configured to determine the control data of the vehicle based on the warm-up state by the following steps: acquiring operating parameters of the vehicle in the power-assist mode; determining a required torque of the vehicle based on the operating parameters; in response to the engine being in the warm-up state and the required torque being not greater than a torque corresponding to the engine in a torque external characteristic curve at a current speed, or in response to the engine being in a warmed-up state and the required torque being not greater than a torque corresponding to the engine in a torque external characteristic curve at a current speed, determining the first control data of the vehicle; in response to the engine being in the warm-up state and the required torque being greater than a torque corresponding to the engine in a torque external characteristic curve at a current speed, or in response to the engine being in a warmed-up state and the required torque being greater than a torque corresponding to the engine in a torque external characteristic curve at a current speed, determining the second control data of the vehicle; The distribution unit is further configured to distribute the output torque to the engine based on the control data by: determining the output torque of the engine as the required torque based on the first control data; determining the output torque of the engine as the output torque corresponding to the engine in the torque external characteristic curve at the current speed based on the second control data; The device is further configured to: determine the output torque of the motor as a difference between the required torque and the output torque of the engine based on the second control data; The device is also used to: limit the rising slope of the output torque of the engine to be less than a first positive maximum value, and limit the falling slope of the output torque of the engine to be greater than a first negative minimum value, wherein the absolute value of the first positive maximum value is greater than the absolute value of the first negative minimum value; limit the rising slope of the output torque of the motor to be less than a second positive maximum value, and limit the falling slope of the output torque of the motor to be greater than a second negative minimum value, wherein the absolute value of the second positive maximum value is greater than the absolute value of the second negative minimum value.

4. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method according to any one of claims 1 to 2.

5. A vehicle, characterized in that: Used to perform the method according to any one of claims 1 to 2.

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