Vehicle Torque Control Method, System, Vehicle and Storage Medium

Abstract

The present application discloses a vehicle torque control method, system, vehicle and storage medium, belonging to the technical field of vehicles. The present application obtains the total permitted driving power, the permitted driving power and permitted torque of each driving motor, the vehicle's overall vehicle torque and the current vehicle speed; based on the permitted driving power and permitted torque of each driving motor and the current vehicle speed, the overall vehicle torque is limited to obtain the overall vehicle torque limit value and the target torque distribution coefficient of the vehicle; based on the overall vehicle torque limit value and the target torque distribution coefficient, the expected torque corresponding to each driving motor is determined; based on the expected torque corresponding to each driving motor and the speed of each driving motor, the expected total power of the vehicle is determined; the expected total power is compared with the total permitted driving power, and according to the comparison result, the corresponding distribution strategy is selected to perform torque distribution on each driving motor, so as to achieve torque economic distribution output while maximizing the satisfaction of the power demand of vehicle driving.

Description

Technical Field

[0001] The present application relates to the technical field of vehicles, and particularly to a vehicle torque control method, system, vehicle and storage medium. Background Art

[0002] Most of the existing technologies obtain the driving ability of the system through real-time torque distribution coefficients, and the real-time distribution depends on the obtained system driving ability limit. In this way, there will be a situation where the driving requirements cannot be fully met under local working conditions. That is to say, in the existing technologies, during the running of the vehicle, it is impossible to ensure that while meeting the economy of driving ability output, the dynamic requirements of vehicle driving are maximally met.

[0003] The above content is only used to assist in understanding the technical solution of the present application, and does not represent an admission that the above content is prior art. Summary of the Invention

[0004] The main purpose of the present application is to provide a vehicle torque control method, system, vehicle and storage medium, aiming to solve the technical problem that the prior art cannot balance the dynamic requirements of vehicle driving when ensuring the economic output of driving ability.

[0005] To achieve the above purpose, the present application provides a vehicle torque control method, which is applied to a vehicle including a power battery and at least two drive motors. The vehicle torque control method includes the following steps:

[0006] Obtain the permitted total driving power that the power battery can provide to the drive motors, the permitted driving power of each drive motor, the permitted torque of each drive motor, the vehicle's overall vehicle torque, and the current vehicle speed;

[0007] Based on the permitted driving power of each drive motor, the permitted torque of each drive motor, and the current vehicle speed, limit the overall vehicle torque according to the logic of minimizing power consumption to obtain the overall vehicle torque limit value and the target torque distribution coefficient of the vehicle;

[0008] Based on the overall vehicle torque limit value and the target torque distribution coefficient, determine the expected torque corresponding to each drive motor;

[0009] Based on the expected torque corresponding to each drive motor and the speed of each drive motor, determine the expected total power of the vehicle;

[0010] Compare the expected total power with the permitted total driving power, and according to the comparison result, select the corresponding distribution strategy to distribute torque to each drive motor.

[0011] Optionally, the step of comparing the expected total power with the permitted total driving power and selecting a corresponding distribution strategy to perform torque distribution on each drive motor according to the comparison result includes:

[0012] If the difference between the expected total power and the permitted total driving power is greater than a preset threshold, then based on the permitted driving power and permitted torque of each drive motor, limit the expected torque corresponding to each drive motor to obtain the target torque corresponding to each drive motor, and perform torque distribution on each drive motor based on the target torque;

[0013] If the difference between the expected total power and the permitted total driving power is less than or equal to the preset threshold, then limit the vehicle torque according to preset conditions to obtain the vehicle torque limit value of the vehicle, and return to the step of determining the expected torque corresponding to each drive motor based on the vehicle torque limit value and the target torque distribution coefficient.

[0014] Optionally, the step of limiting the vehicle torque according to preset conditions to obtain the vehicle torque limit value of the vehicle includes:

[0015] Determine the torque distribution coefficient of each drive motor based on the expected torque corresponding to each drive motor;

[0016] Calculate the second permitted driving power of each drive motor based on the torque distribution coefficient and the permitted total driving power;

[0017] Limit the vehicle torque based on the second permitted driving power and the current vehicle speed to obtain the vehicle torque limit value of the vehicle.

[0018] Optionally, the step of limiting the vehicle torque based on the permitted driving power of each drive motor, the permitted torque of each drive motor, and the current vehicle speed according to the minimum power consumption logic to obtain the vehicle torque limit value of the vehicle and the target torque distribution coefficient includes:

[0019] Limit the vehicle torque based on the permitted driving power of each drive motor, the permitted torque of each drive motor, and the current vehicle speed according to the minimum power consumption logic to obtain the vehicle torque limit value of the vehicle;

[0020] Determine the target torque distribution coefficient based on the vehicle torque limit value and the current vehicle speed.

[0021] Optionally, before the step of determining the target torque distribution coefficient based on the vehicle torque limit value and the current vehicle speed, it further includes:

[0022] Filter the vehicle torque limit value to obtain the filtered vehicle torque limit value;

[0023] The step of determining the target torque distribution coefficient based on the vehicle torque limit value and the current vehicle speed includes:

[0024] Determine the target torque distribution coefficient based on the filtered vehicle torque limit value and the current vehicle speed.

[0025] Optionally, the step of determining the target torque distribution coefficient based on the vehicle torque limit value and the current vehicle speed includes:

[0026] Determine the corresponding speed of each drive motor based on the current vehicle speed;

[0027] Based on the vehicle torque limit value and the corresponding speeds of each drive motor, query the pre-set second MAP table to determine the torque distribution coefficient corresponding to each drive motor, where the second MAP table is used to represent the mapping relationship of torque - corresponding speed of each drive motor - torque distribution coefficient corresponding to each drive motor.

[0028] Optionally, before the step of determining the expected total power of the vehicle based on the expected torque corresponding to each drive motor and the speed of each drive motor, further includes:

[0029] Filter the expected torque to obtain the filtered expected torque;

[0030] The step of determining the expected total power of the vehicle based on the expected torque corresponding to each drive motor and the speed of each drive motor includes:

[0031] Determine the expected total power of the vehicle based on the filtered expected torque corresponding to each drive motor and the speed of each drive motor.

[0032] Optionally, the step of limiting the vehicle torque according to the power consumption minimization logic based on the permitted total drive power, the permitted drive power of each drive motor, the permitted torque of each drive motor, and the current vehicle speed to obtain the vehicle torque limit value of the vehicle includes:

[0033] Determine the corresponding speed of each drive motor based on the current vehicle speed;

[0034] Based on the permitted total drive power and the corresponding speeds of each drive motor, query the pre-set third MAP table to determine the first torque limit value corresponding to each drive motor, where the first torque limit value is used to represent the output permitted torque of the drive motor under the limitation of the power battery capacity, and the third MAP table is used to represent the mapping relationship of permitted total drive power - speeds of each drive motor - torques of each drive motor;

[0035] Based on the permitted driving power of each driving motor and the permitted torque of each driving motor, determine the second torque limit value corresponding to each driving motor, where the second torque limit value is used to represent the permitted output torque corresponding to the driving motor under its own capacity limit;

[0036] Based on the first torque limit value and the second torque limit value, determine the vehicle's overall vehicle torque limit value.

[0037] Optionally, the step of determining the vehicle's overall vehicle torque limit value based on the first torque limit value and the second torque limit value includes:

[0038] Compare the first torque limit value corresponding to each driving motor with its corresponding second torque limit value;

[0039] In the case of output torque, take the smaller of the first torque limit value and the second torque limit value corresponding to each driving motor as the torque limit value corresponding to each driving motor;

[0040] In the case of regenerative torque, take the larger of the first torque limit value and the second torque limit value corresponding to each driving motor as the torque limit value corresponding to each driving motor;

[0041] Calculate the sum of the torque limit values corresponding to each driving motor as the vehicle's overall vehicle torque limit value.

[0042] Optionally, the step of obtaining the current vehicle speed includes:

[0043] When the vehicle is in a stable driving condition, obtain the real-time vehicle speed of the vehicle as the current vehicle speed;

[0044] When the vehicle is in an unstable driving condition, obtain the reference vehicle speed corresponding to the vehicle as the current vehicle speed.

[0045] Optionally, before the step of obtaining the real-time vehicle speed of the vehicle as the current vehicle speed when the vehicle is in a stable driving condition, it further includes:

[0046] Obtain the front driving motor speed, the rear driving motor speed, the rotational speed change rate of the front driving motor, and the rotational speed change rate of the rear driving motor;

[0047] If the difference between the front driving motor speed and the rear driving motor speed is greater than a first preset threshold, or the maximum value of the rotational speed change rate of the front driving motor and the rotational speed change rate of the rear driving motor is greater than a second preset threshold, then the vehicle is in an unstable driving condition.

[0048] Optionally, the step of obtaining the reference vehicle speed corresponding to the vehicle as the current vehicle speed includes:

[0049] Determine a reference vehicle speed corresponding to the vehicle based on the maximum value of the rotational speed of the front drive motor and the rotational speed of the rear drive motor.

[0050] Optionally, the step of obtaining the reference vehicle speed corresponding to the vehicle as the current vehicle speed further includes:

[0051] Correct the reference vehicle speed based on the maximum value of the rotational speed change rate of the front drive motor and the rotational speed change rate of the rear drive motor, and use the corrected reference vehicle speed as the current vehicle speed.

[0052] In addition, to achieve the above object, the present application further provides a vehicle torque control system, and the vehicle torque control system includes:

[0053] An energy management module, configured to obtain the total permitted drive power that the power battery can provide to the drive motor, the permitted drive power of each drive motor, the permitted torque of each drive motor, the total vehicle torque of the vehicle, and the current vehicle speed;

[0054] A torque management module, configured to limit the total vehicle torque based on the permitted drive power of each drive motor, the permitted torque of each drive motor, and the current vehicle speed according to the minimum power consumption logic, to obtain a total vehicle torque limit value and a target torque distribution coefficient of the vehicle, determine the expected torque corresponding to each drive motor based on the total vehicle torque limit value and the target torque distribution coefficient, determine the expected total power of the vehicle based on the expected torque corresponding to each drive motor and the rotational speed of each drive motor, compare the expected total power with the total permitted drive power, and select a corresponding distribution strategy to perform torque distribution on each drive motor according to the comparison result.

[0055] In addition, to achieve the above object, the present application further provides a vehicle, and the vehicle includes a power battery, at least two drive motors, and the vehicle torque control system as described above.

[0056] In addition, to achieve the above object, the present application further provides a storage medium, and a vehicle torque control program is stored on the storage medium. When the vehicle torque control program is executed by a processor, the steps of the vehicle torque control method as described above are implemented.

[0057] The present application discloses a vehicle torque control method, system, vehicle, and storage medium. Compared with the prior art, which cannot balance the power demand of vehicle driving while ensuring the economic output of driving ability, the present application obtains the total permitted driving power that the power battery can provide to the drive motor, the permitted driving power of each drive motor, the permitted torque of each drive motor, the vehicle's overall vehicle torque, and the current vehicle speed; based on the permitted driving power of each drive motor, the permitted torque of each drive motor, and the current vehicle speed, according to the logic of minimizing power consumption, the overall vehicle torque is restricted to obtain the overall vehicle torque limit value and the target torque distribution coefficient of the vehicle; based on the overall vehicle torque limit value and the target torque distribution coefficient, the expected torque corresponding to each drive motor is determined; based on the expected torque corresponding to each drive motor and the speed of each drive motor, the expected total power of the vehicle is determined; the expected total power is compared with the total permitted driving power, and according to the comparison result, the corresponding distribution strategy is selected to perform torque distribution on each drive motor, that is, in the present application, while realizing the economic distribution output of torque, the power demand of vehicle driving is maximally satisfied. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The accompanying drawings herein are incorporated into the specification and form a part of the specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0059] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the accompanying drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

[0060] Figure 1 Schematic flowchart of the first embodiment of the vehicle torque control method of the present application;

[0061] Figure 2 The third MAP table of the present application;

[0062] Figure 3 The second MAP table of the present application;

[0063] Figure 4 The first MAP table of the present application;

[0064] Figure 5 Schematic flowchart of the production process of the MAP table of the present application;

[0065] Figure 6 Schematic flowchart of the second embodiment of the vehicle torque control method of the present application;

[0066] Figure 7Schematic diagram of the functional modules of the first embodiment of the vehicle torque control system of the present application.

[0067] The realization of the purpose of the present application, functional features and advantages will be further described with reference to the embodiments and the accompanying drawings. Specific embodiments

[0068] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0069] The embodiment of the present application provides a vehicle torque control method, referring to Figure 1 , Figure 1 Schematic flowchart of the first embodiment of the vehicle torque control method of the present application.

[0070] In this embodiment, the vehicle torque control method includes:

[0071] Step S10: Obtain the total permitted driving power that the power battery can provide to the drive motor, the permitted driving power of each drive motor, the permitted torque of each drive motor, the total vehicle torque of the vehicle, and the current vehicle speed.

[0072] Among them, the total permitted driving power that the power battery can provide to the drive motor is the sum of the permitted driving powers of each drive motor.

[0073] Among them, the total vehicle torque of the vehicle refers to the sum of the torques output by each drive motor during the vehicle's driving process. The torques output by each drive motor act on the wheel ends of the vehicle. Therefore, the total vehicle demand torque of the vehicle can also refer to the sum of the torques required at each wheel end during the vehicle's driving process. When the vehicle is in different driving states and different driving road conditions, the torques required at each wheel end and their sum are different. Therefore, the current total vehicle demand torque of the vehicle can be determined based on the vehicle's driving state information and driving road condition information. The vehicle's driving state information includes but is not limited to the vehicle's driving speed, the depth of the brake pedal, the opening of the accelerator pedal, the steering angles of each wheel of the vehicle, etc. The vehicle's driving road condition information includes but is not limited to the road surface type where the vehicle is currently located (such as asphalt road, muddy road, mountain road, etc.), weather information (such as wet, snowy, icy, etc.), traffic congestion situation, etc.

[0074] Step S20: Based on the total permitted driving power, the permitted driving power of each drive motor, the permitted torque of each drive motor, and the current vehicle speed, limit the total vehicle torque according to the logic of minimizing power consumption to obtain the total vehicle torque limit value and the target torque distribution coefficient of the vehicle.

[0075] Specifically, the above step S20 includes:

[0076] Step S210: Based on the total permitted driving power, the permitted driving powers of each driving motor, the permitted torques of each driving motor, and the current vehicle speed, limit the vehicle's total torque according to the power consumption minimization logic to obtain the vehicle's total torque limit value.

[0077] Specifically, the above-mentioned step S210 includes:

[0078] Step S211: Determine the rotational speeds corresponding to each driving motor based on the current vehicle speed.

[0079] Specifically, the rotational speeds corresponding to each driving motor are calculated based on the current vehicle speed and the wheel rolling radius.

[0080] Step S212: Based on the total permitted driving power and the rotational speeds corresponding to each driving motor, query the pre-set third MAP table to determine the first torque limit value corresponding to each driving motor, where the first torque limit value is used to represent the permitted output torque corresponding to the driving motor under the limitation of the power battery capacity, and the third MAP table is used to represent the mapping relationship of total permitted driving power - rotational speeds of each driving motor - torques of each driving motor.

[0081] Among them, the pre-set third MAP table can refer to Figure 2 , Figure 2 which is the third MAP table of this application, with the abscissa being the rotational speeds of each driving motor and the ordinate being the torques of each driving motor. That is, the process of querying the pre-set third MAP table based on the total permitted driving power and the rotational speeds corresponding to each driving motor to determine the first torque limit value corresponding to each driving motor can be: Based on the total permitted driving power and the rotational speeds corresponding to each driving motor, determine the torques corresponding to each driving motor under this total permitted driving power, and according to the rotational speeds and torques corresponding to each driving motor, look up the third MAP table to obtain the motor efficiency corresponding to each driving motor, and based on the motor efficiency corresponding to each driving motor obtained by looking up the table and the permitted torques of each driving motor, determine the first torque limit value corresponding to each driving motor.

[0082] The production process of the pre-set third MAP table can refer to Figure 5 , Figure 5 which is the schematic diagram of the production process of the MAP table of this application.

[0083] The production process of the pre-set third MAP table includes:

[0084] 1) Obtain the efficiency MAP table of each driving motor at different voltages through motor bench tests, where the abscissa is the rotational speeds of each driving motor and the ordinate is the torques of each driving motor. At different voltages, test the motor efficiency corresponding to different rotational speeds and torques;

[0085] 2) Correct the motor efficiency corresponding to zero torque at different speeds in the efficiency MAP table. Considering that there may be large deviations in the experimental values ​​near the zero torque point, the torque coordinate point at this point is eliminated. For the zero torque point itself, there is no driving efficiency. In order to transition between positive and negative torques, and considering that the driving torque is used more frequently than the recovery torque, the motor efficiency corresponding to the adjacent effective positive torque is used to fill it. In addition, the efficiency is inaccurate within the range of the precision torque at the motor end (such as ±3nm, basically around 30nm to the shaft end), and this area needs to be avoided. For example, it is more reasonable to use the test data starting from 50nm, and the efficiency is obtained through linear difference in the lower torque area under control;

[0086] Considering that all the electric power is used for heat generation at the zero speed point, a separate replacement strategy is generally used in actual use (for example, when the vehicle starts, it is allowed to output at the maximum capacity after combining the battery and motor capabilities, so the third MAP table is designed not to list the zero speed point separately, that is, from the perspective of the table, the efficiency calculation is performed at the low speed point by default when the point is close to 0);

[0087] 3) Fill the NAN data in the efficiency MAP table to obtain a complete third MAP table. Since some data points are beyond the power range and have NAN data, the NAN data at the upper and lower ends are replaced with the efficiency of the adjacent longitudinal direction (when the efficiency data value is equal to NAN, the power has reached the upper limit, the torque cannot continue to increase, and the efficiency remains unchanged) to obtain a complete third MAP table.

[0088] Step S213: determining a second torque limit value corresponding to each drive motor based on the permitted driving power of each drive motor and the permitted torque of each drive motor, wherein the second torque limit value is used to characterize the output permitted torque corresponding to the drive motor under its own capacity limitation.

[0089] Specifically, the permissible torque of the drive motor is usually the permissible torque of the drive motor shaft end. Since a reducer is provided between the drive motor and the wheel, the permissible torque of the drive motor can be converted into the second torque limit value corresponding to the drive motor based on the reduction ratio of the reducer and the conversion loss of the permissible drive power of the drive motor to the mechanical power. The conversion loss of the permissible drive power of the drive motor to the mechanical power can be estimated based on the bus voltage, temperature and rotation speed of the drive motor.

[0090] It should be noted that the estimation of the conversion loss from the permissible driving power of the driving motor to the mechanical power may be carried out in any appropriate manner commonly used in the art, which will not be described in detail in the embodiments of the present application.

[0091] Step S214: Determine a vehicle torque limit value of the vehicle based on the first torque limit value and the second torque limit value.

[0092] Specifically, the above step S214 may include:

[0093] Step a1: Compare the first torque limit value corresponding to each drive motor with its corresponding second torque limit value.

[0094] Step a2: When outputting torque, take the smaller value of the first torque limit value and the second torque limit value corresponding to each drive motor as the torque limit value corresponding to each drive motor.

[0095] Specifically, if the first torque limit value corresponding to each drive motor is less than or equal to its corresponding second torque limit value, then take the first torque limit value corresponding to each drive motor as the torque limit value corresponding to each drive motor; if the first torque limit value corresponding to each drive motor is greater than its corresponding second torque limit value, then take the second torque limit value corresponding to each drive motor as the torque limit value corresponding to each drive motor.

[0096] Step a3: When recovering torque, take the larger value of the first torque limit value and the second torque limit value corresponding to each drive motor as the torque limit value corresponding to each drive motor.

[0097] Specifically, if the first torque limit value corresponding to each drive motor is less than its corresponding second torque limit value, then take the second torque limit value corresponding to each drive motor as the torque limit value corresponding to each drive motor; if the first torque limit value corresponding to each drive motor is greater than or equal to its corresponding second torque limit value, then take the first torque limit value corresponding to each drive motor as the torque limit value corresponding to each drive motor.

[0098] Step a4: Compare the torque limit values corresponding to each drive motor. If the difference between the torque limit values corresponding to each drive motor is greater than the preset difference threshold, then perform torque transfer on the torque limit values corresponding to each drive motor to obtain the torque limit values corresponding to each drive motor after torque transfer.

[0099] Specifically, in this embodiment, the number of drive motors is 2, namely the first drive motor and the second drive motor. Calculate the difference between the torque limit value corresponding to the first drive motor and the torque limit value corresponding to the second drive motor. If the torque limit value corresponding to the first drive motor is greater than the torque limit corresponding to the second drive motor and the difference is greater than the first preset difference threshold, then perform a torque transfer operation on the torque limit value corresponding to the first drive motor, that is, the reduction amount of the torque limit value corresponding to the first drive motor is equal to the increase amount of the torque limit value corresponding to the second drive motor, so that the difference between the torque limit value corresponding to the first drive motor after torque transfer and the torque limit corresponding to the second drive motor after torque transfer is less than the second preset difference threshold. It should be noted that the first preset difference threshold and the second preset difference threshold can be set according to actual needs, and the first preset difference threshold is greater than the second preset difference threshold.

[0100] Step a5: Calculate the sum of the torque limit values corresponding to each drive motor after torque transfer as the vehicle's overall vehicle torque limit value.

[0101] Step S220: Determine the target torque distribution coefficient based on the overall vehicle torque limit value and the current vehicle speed.

[0102] Specifically, the above step S220 may include:

[0103] Step S221: Determine the rotational speed corresponding to each drive motor based on the current vehicle speed.

[0104] Specifically, the rotational speed corresponding to each drive motor is calculated based on the current vehicle speed and the wheel rolling radius.

[0105] Step S222: Query the pre-set second MAP table based on the overall vehicle torque limit value and the rotational speed corresponding to each drive motor to determine the torque distribution coefficient corresponding to each drive motor, where the second MAP table is used to represent the mapping relationship of torque corresponding to each drive motor - rotational speed corresponding to each drive motor - torque distribution coefficient.

[0106] Among them, the pre-set second MAP table can refer to Figure 3 , Figure 3 This is the second MAP table of the present application. The abscissa is the rotational speed corresponding to each drive motor, and the ordinate is the torque corresponding to each drive motor. In this embodiment, the overall vehicle torque limit value of the vehicle is the sum of the torque limit values corresponding to each drive motor after torque transfer. That is, query the pre-set second MAP table based on the overall vehicle torque limit value and the rotational speed corresponding to each drive motor to determine the torque distribution coefficient corresponding to each drive motor, including:

[0107] Determine the torque limit values corresponding to each drive motor based on the vehicle torque limit, and look up the second MAP table according to the torque limit values corresponding to each drive motor and the rotational speeds corresponding to each drive motor to determine the torque distribution coefficients corresponding to each drive motor.

[0108] The production process of the preset second MAP table can refer to Figure 5 , Figure 5 which is the schematic diagram of the production process of the MAP table of this application.

[0109] The production process of the preset second MAP table includes:

[0110] 1) Obtain the power external characteristic data and torque external characteristic data of each drive motor through motor bench tests;

[0111] 2) Based on the efficiency MAP table obtained by correcting the motor efficiency corresponding to zero torque at different rotational speeds in the efficiency MAP table during the production process of the third MAP table, calculate the MAP tables of each drive motor respectively (the horizontal axis in the table is the rotational speed of each drive motor, and the vertical axis is the torque of each drive motor). Among them, when calculating the MAP tables of each drive motor, it is necessary to meet the principle that when discharging, the electrical power is calculated by dividing the mechanical power by the efficiency, and when charging, the electrical power is calculated by multiplying the mechanical power by the efficiency; and fill the NAN data in the MAP table (fill it with the adjacent longitudinal power or use the power external characteristic value corresponding to the same rotational speed) to obtain a complete MAP table;

[0112] 3) Set the total torque value, traverse the distribution coefficients, and obtain the power of each drive motor at each distribution coefficient through the MAP table difference in step 2). Among them, after distributing the torque of each drive motor based on the distribution coefficient, if the torque of one of the drive motors after distribution exceeds the torque external characteristic of the drive motor, then default this distribution coefficient and use NAN as the power of each drive motor under this distribution coefficient. Otherwise, interpolate based on the MAP table of each drive motor to obtain the sum of the powers of each drive motor under this distribution coefficient;

[0113] 4) Obtain the minimum MAP table corresponding to each total torque value and rotational speed. Among them, if the set distribution coefficient accuracy is low and there is always a single drive motor torque exceeding the torque external characteristic at the boundary torque value, then there is NAN in the minimum power;

[0114] 5) Obtain the distribution coefficient table corresponding to the minimum MAP table corresponding to each total torque value and rotational speed, and fill the NAN data, zero rotational speed points, and zero torque points in the distribution coefficient table to obtain a complete second MAP table.

[0115] Near zero torque, if the negative torque area is 1, it is replaced according to the distribution coefficient 0, and the positive torque area is replaced according to the distribution coefficient 1+. The purpose of this processing is to avoid the jump of the local point distribution coefficient between 0 and 1, so that it shows continuous distribution changes to help achieve continuous transfer changes of torque.

[0116] Fill in the distribution coefficient NAN. The main reason for the appearance of the NAN area is that there will always be a single torque exceeding the limit for two motors according to the distribution coefficient. This is related to the accuracy of the traversed distribution coefficient and may not be able to match the external characteristic torque ratio of the two motors. However, it can be processed by NAN filling later, that is, use the distribution coefficient at the maximum torque that can be achieved at a unified speed as the filling coefficient for the NAN area (fill with the distribution coefficient obtained from the external characteristic torque ratio). Among them, the coefficient at the zero torque point is filled according to the positive torque (the driving return-to-zero condition is more common than the recovery situation), and the zero speed point is default to be the same as the adjacent low speed (such as 50 rpm) to avoid the transition change of the distribution coefficient at low speed (the zero speed point is not shown in the table, and the actual search is default to be the value at 50 rpm).

[0117] More specifically, in this embodiment, after obtaining the vehicle torque limit value, perform wheel-end basic filtering on the vehicle torque limit value, and combine the filtered vehicle torque limit value, the speeds of each drive motor, and the preset second MAP table to determine the target torque distribution coefficient corresponding to the vehicle in the economic mode.

[0118] Step S30: Based on the vehicle torque limit value and the target torque distribution coefficient, determine the expected torque corresponding to each drive motor.

[0119] Among them, in this embodiment, there are multiple target torque distribution coefficients, that is, each drive motor has a corresponding target torque distribution coefficient. Multiply the target torque distribution coefficient corresponding to each drive motor by the vehicle torque limit value, and the obtained value is the expected torque corresponding to each drive motor.

[0120] Step S40: Based on the expected torque corresponding to each drive motor and the speeds of each drive motor, determine the expected total power of the vehicle.

[0121] Specifically, in this embodiment, based on the calculation formula of power = n × speed × expected torque, calculate the expected power corresponding to each drive motor, and add the expected powers corresponding to each drive motor to obtain the expected total power of the vehicle.

[0122] Furthermore, in this embodiment, the expected torque corresponding to each drive motor in step S40 is the filtered expected torque obtained after filtering.

[0123] Step S50: Compare the expected total power with the permitted total driving power, and based on the comparison result, select the corresponding distribution strategy to distribute torque to each driving motor.

[0124] Specifically, step S50 may include:

[0125] Step S510: If the difference between the expected total power and the permitted total driving power is greater than a preset threshold, then based on the permitted driving power and permitted torque of each driving motor, limit the expected torque corresponding to each driving motor to obtain the target torque corresponding to each driving motor, and distribute torque to each driving motor based on the target torque.

[0126] Specifically, limiting the expected torque corresponding to each driving motor based on the permitted driving power and permitted torque of each driving motor includes:

[0127] When there are two driving motors in the vehicle, when calculating the expected torque corresponding to one driving motor, subtract the actual power consumption of the other driving motor from the permitted total driving power as the driving power of this driving motor under the limitation of the power battery capacity, and based on the driving power and this driving motor, query the preset first MAP table to determine the torque of this driving motor under the limitation of the power battery capacity as the first permitted torque.

[0128] Among them, the preset first MAP table can refer to Figure 4 , Figure 4 which is the first MAP table of this application, with the abscissa being the rotational speed corresponding to each driving motor and the ordinate being the torque corresponding to each driving motor.

[0129] The production process of the preset first MAP table can refer to Figure 5 , Figure 5 which is the schematic diagram of the production process of the MAP table of this application.

[0130] The production process of the preset first MAP table includes:

[0131] 1) According to the power external characteristic data and torque external characteristic data of each driving motor, obtain the power external characteristic data and torque external characteristic data of the vehicle's four-wheel drive;

[0132] 2) Convert each minimum MAP table corresponding to the total torque value and rotational speed into a first transition list. The first column of the first transition list is power, the second column is rotational speed, and the third column is torque. Convert the first transition list into a two-dimensional MAP table with power and rotational speed as the headers through scatter interpolation. Among them, before conversion, remove the NAN row data in the first transition list, and fill the NAN data in the two-dimensional MAP table with the torque external characteristic data of the vehicle's four-wheel drive at the corresponding rotational speed to obtain the power-rotational speed look-up total torque table;

[0133] 3) Convert the minimum MAP table corresponding to each total torque value and rotational speed and its corresponding distribution coefficient table into a second intermediate list. The first column of the second intermediate list is power, the second column is rotational speed, and the third column is the distribution coefficient. Convert the second intermediate list into a power-rotational speed lookup distribution coefficient table by scatter interpolation. Before conversion, remove the NAN row data in the second intermediate list. During the conversion process, fill the generated NAN data with the distribution coefficient obtained by the torque external characteristic ratio of the vehicle's four-wheel drive at the same rotational speed.

[0134] 4) Multiply the power-rotational speed lookup total torque table and the power-rotational speed lookup distribution coefficient table to obtain the power-rotational speed lookup torque table (the first MAP table) of each drive motor.

[0135] Specifically, the permitted torque of the drive motor is usually the permitted torque at the shaft end of the drive motor. Since there is also a speed reducer etc. between the drive motor and the wheel, therefore, based on the reduction ratio of the speed reducer and the conversion loss of the permitted drive power of the drive motor to mechanical power, convert the permitted torque of the drive motor into the corresponding second permitted torque of the drive motor. The conversion loss of the permitted drive power of the drive motor to mechanical power can be estimated based on the bus voltage, temperature, rotational speed, etc. of the drive motor.

[0136] It should be noted that the conversion loss of the permitted drive power of the drive motor to mechanical power can be estimated by any appropriate method commonly used in the art, and this is not elaborated in this embodiment of the present application.

[0137] Add the first permitted torque and the second permitted torque to obtain the target torque corresponding to the drive motor.

[0138] Step S520: If the difference between the desired total power and the permitted total drive power is less than or equal to a preset threshold, then limit the vehicle's total torque according to preset conditions to obtain the vehicle's total torque limit value, and return to the step of determining the desired torque corresponding to each drive motor based on the vehicle's total torque limit value and the target torque distribution coefficient.

[0139] Specifically, the step of limiting the vehicle's total torque according to preset conditions to obtain the vehicle's total torque limit value includes:

[0140] Based on the desired torque corresponding to each drive motor, determine the torque distribution coefficient of each drive motor.

[0141] In this embodiment, add the desired torque corresponding to each drive motor to obtain the desired total torque of the vehicle, and divide the desired torque corresponding to each drive motor by the desired total torque of the vehicle to obtain the torque distribution coefficient of each drive motor.

[0142] The second permitted driving power of each driving motor is calculated based on the torque distribution coefficient and the permitted total driving power.

[0143] In this embodiment, the second permitted driving power of each driving motor can be obtained by multiplying the torque distribution coefficient of each driving motor by the permitted total driving power.

[0144] Based on the second permitted driving power and the current vehicle speed, the vehicle's total torque is limited to obtain the vehicle's total torque limit value.

[0145] In this embodiment, based on the second permitted driving power and the current vehicle speed, the second permitted driving torque of each driving motor is determined; and based on the reduction ratio of the reducer and the conversion loss from the second permitted driving power to mechanical power of the driving motor under the battery power capacity limit, the second permitted driving torque of the driving motor is converted into the corresponding third torque limit value of the driving motor. Among them, the conversion loss from the second permitted driving power to mechanical power of the driving motor under the battery power capacity limit can also be estimated based on the bus voltage, temperature, and speed of the driving motor, etc.

[0146] Secondly, the permitted torque of the driving motor is usually the permitted torque at the shaft end of the driving motor. Since there is also a reducer, etc. between the driving motor and the wheel, therefore, based on the reduction ratio of the reducer and the conversion loss from the permitted driving power to mechanical power of the driving motor, the permitted torque of the driving motor can be converted into the corresponding fourth torque limit value of the driving motor. Among them, the conversion loss from the permitted driving power to mechanical power of the driving motor can be estimated based on the bus voltage, temperature, and speed of the driving motor, etc.

[0147] It should be noted that the conversion loss from the permitted driving power to mechanical power of the above driving motor can be estimated by any suitable method commonly used in the art, and the embodiments of the present application will not elaborate here.

[0148] The third torque limit value corresponding to each driving motor is compared with its corresponding fourth torque limit value.

[0149] In the case of output torque, the minimum value among the third torque limit value and the fourth torque limit value corresponding to each driving motor is taken as the torque limit value corresponding to each driving motor.

[0150] In the case of regenerative torque, the maximum value among the third torque limit value and the fourth torque limit value corresponding to each driving motor is taken as the torque limit value corresponding to each driving motor.

[0151] The sum of the torque limit values corresponding to each driving motor is calculated as the vehicle's total torque limit value.

[0152] The above vehicle torque control method obtains the total permitted driving power that the power battery can provide to the drive motors, the permitted driving power of each drive motor, the permitted torque of each drive motor, the vehicle's overall vehicle torque, and the current vehicle speed; based on the permitted driving power of each drive motor, the permitted torque of each drive motor, and the current vehicle speed, according to the logic of minimizing power consumption, the overall vehicle torque is restricted to obtain the overall vehicle torque limit value and the target torque distribution coefficient of the vehicle; based on the overall vehicle torque limit value and the target torque distribution coefficient, the expected torque corresponding to each drive motor is determined; based on the expected torque corresponding to each drive motor and the speed of each drive motor, the expected total power of the vehicle is determined; the expected total power is compared with the total permitted driving power, and according to the comparison result, the corresponding distribution strategy is selected to perform torque distribution on each drive motor, achieving torque economic distribution output while maximizing the satisfaction of the vehicle driving's power demand.

[0153] Based on the first embodiment of the vehicle torque control method, the second embodiment is further provided in the embodiments of the present application. Refer to Figure 6 , Figure 6 which is the flowchart of the second embodiment of the vehicle torque control method of the present application.

[0154] In this embodiment, the method for obtaining the current vehicle speed includes:

[0155] Step A1: Obtain the front drive motor speed, the rear drive motor speed, the speed change rate of the front drive motor, and the speed change rate of the rear drive motor;

[0156] Step A2: If the difference between the front drive motor speed and the rear drive motor speed is greater than the first preset threshold, or the maximum value of the speed change rate of the front drive motor and the speed change rate of the rear drive motor is greater than the second preset threshold, then the vehicle is in an unstable driving condition; otherwise, the vehicle is in a stable driving condition;

[0157] Step A3: When the vehicle is in a stable driving condition, obtain the real-time vehicle speed of the vehicle as the current vehicle speed;

[0158] Step A4: When the vehicle is in an unstable driving condition, obtain the reference vehicle speed corresponding to the vehicle as the current vehicle speed.

[0159] It should be noted that the first preset threshold and the second preset threshold in Step A2 can be set according to actual needs and are not specifically limited in this embodiment.

[0160] Specifically, the step of obtaining the reference vehicle speed corresponding to the vehicle as the current vehicle speed may include:

[0161] Step A41: Determine the reference vehicle speed corresponding to the vehicle based on the maximum value of the front drive motor speed and the rear drive motor speed.

[0162] In this embodiment, the wheel speeds corresponding to the four wheels of the vehicle are calculated based on the front drive motor speed, the rear drive motor speed, and the wheel rolling radius of the vehicle, and the maximum value among them is taken as the reference vehicle speed corresponding to the vehicle.

[0163] Step A42: Correct the reference vehicle speed based on the maximum value of the front drive motor speed change rate and the rear drive motor speed change rate, and use the corrected reference vehicle speed as the current vehicle speed.

[0164] In this embodiment, the maximum value of the front drive motor speed change rate and the rear drive motor speed change rate is directly proportional to the reference vehicle speed. The greater the maximum value of the front drive motor speed change rate and the rear drive motor speed change rate, the higher the corrected reference vehicle speed.

[0165] Furthermore, in this embodiment, when the driving condition of the vehicle changes from an unstable state to a stable state, or from a stable state to an unstable state, there is a gap between the reference vehicle speed and the real-time vehicle speed, and it is impossible to achieve a smooth transition between the reference vehicle speed and the real-time vehicle speed. At this time, a filtering slope can be used to connect the reference vehicle speed and the real-time vehicle speed to ensure a smooth transition between the reference vehicle speed and the real-time vehicle speed.

[0166] In this embodiment, the estimation of the vehicle's overall torque limit value directly affects the magnitude of the final torque output value of each drive motor. When the estimated vehicle's overall torque limit value is too large, it will cause the total drive power of the vehicle to exceed the permitted total drive power. When the estimated vehicle's overall torque limit value is too small, it will affect meeting the power demand for vehicle driving. In this embodiment, by changing the stable and unstable driving conditions, the real-time vehicle speed or the reference vehicle speed is selected as the current vehicle speed, and the estimation of the vehicle's overall torque limit value is corrected under the unstable driving condition, improving the accuracy of the estimation of the vehicle's overall torque limit value, and further ensuring that while achieving torque economic distribution output, the power demand for vehicle driving is maximally met.

[0167] The embodiment of the present application also provides a vehicle torque control system. Refer to Figure 7 , Figure 7 which is a schematic diagram of the functional modules of the first embodiment of the vehicle torque control system of the present application.

[0168] In this embodiment, the vehicle torque control system includes:

[0169] An energy management module 10 is configured to obtain the total permitted driving power that the power battery can provide to the drive motor, the permitted driving power of each drive motor, the permitted torque of each drive motor, the vehicle's overall vehicle torque, and the current vehicle speed.

[0170] A torque management module 20 is configured to limit the overall vehicle torque based on the permitted driving power of each drive motor, the permitted torque of each drive motor, and the current vehicle speed according to the minimum power consumption logic, to obtain the overall vehicle torque limit value and the target torque distribution coefficient of the vehicle, determine the expected torque corresponding to each drive motor based on the overall vehicle torque limit value and the target torque distribution coefficient, determine the expected total power of the vehicle based on the expected torque corresponding to each drive motor and the speed of each drive motor, compare the expected total power with the permitted total driving power, and select a corresponding distribution strategy to perform torque distribution on each drive motor according to the comparison result.

[0171] Optionally, the torque management module includes:

[0172] A torque limit module is configured to limit the overall vehicle torque based on the permitted driving power of each drive motor, the permitted torque of each drive motor, and the current vehicle speed according to the minimum power consumption logic, to obtain the overall vehicle torque limit value and the target torque distribution coefficient of the vehicle;

[0173] A distribution preprocessing module is configured to determine the expected torque corresponding to each drive motor based on the overall vehicle torque limit value and the target torque distribution coefficient, and determine the expected total power of the vehicle based on the expected torque corresponding to each drive motor and the speed of each drive motor;

[0174] A torque distribution module is configured to compare the expected total power with the permitted total driving power, and select a corresponding distribution strategy to perform torque distribution on each drive motor according to the comparison result.

[0175] Optionally, the torque distribution module is configured to implement:

[0176] If the difference between the expected total power and the permitted total driving power is less than or equal to a preset threshold, then limit the expected torque corresponding to each drive motor based on the permitted driving power and permitted torque of each drive motor, to obtain the target torque corresponding to each drive motor, and perform torque distribution on each drive motor based on the target torque;

[0177] If the difference between the expected total power and the permitted total driving power is greater than the preset threshold, then limit the overall vehicle torque according to preset conditions, to obtain the overall vehicle torque limit value of the vehicle, and return to the step of determining the expected torque corresponding to each drive motor based on the overall vehicle torque limit value and the target torque distribution coefficient.

[0178] Optionally, the torque distribution module is further configured to:

[0179] Determine the torque distribution coefficients of the drive motors based on the expected torques corresponding to the drive motors;

[0180] Calculate the second permitted drive powers of the drive motors based on the torque distribution coefficients and the permitted total drive power;

[0181] Limit the vehicle torque based on the second permitted drive power and the current vehicle speed to obtain the vehicle torque limit value of the vehicle.

[0182] Optionally, the torque limit module includes:

[0183] A torque limit sub-module, configured to limit the vehicle torque based on the permitted total drive power, the permitted drive powers of the drive motors, the permitted torques of the drive motors, and the current vehicle speed according to the power consumption minimization logic to obtain the vehicle torque limit value of the vehicle;

[0184] A distribution coefficient determination sub-module, configured to determine the target torque distribution coefficients based on the vehicle torque limit value and the current vehicle speed.

[0185] Optionally, the distribution coefficient determination sub-module is configured to:

[0186] Determine the speeds corresponding to the drive motors based on the current vehicle speed;

[0187] Query a pre-set second MAP table based on the vehicle torque limit value and the speeds corresponding to the drive motors to determine the torque distribution coefficients corresponding to the drive motors, where the second MAP table is used to represent the mapping relationship of vehicle torque limit value - speeds corresponding to the drive motors - torque distribution coefficients.

[0188] Optionally, the energy management module includes:

[0189] A current vehicle speed acquisition sub-module, configured to obtain the real-time vehicle speed of the vehicle as the current vehicle speed when the vehicle is in a stable driving condition, and obtain the reference vehicle speed corresponding to the vehicle as the current vehicle speed when the vehicle is in an unstable driving condition.

[0190] Optionally, the current vehicle speed acquisition sub-module is further configured to:

[0191] Obtain the front drive motor speed, the rear drive motor speed, the front drive motor speed change rate, and the rear drive motor speed change rate;

[0192] If the difference between the rotational speed of the front drive motor and the rotational speed of the rear drive motor is greater than a first preset threshold, or the maximum value of the rotational speed change rate of the front drive motor and the rotational speed change rate of the rear drive motor is greater than a second preset threshold, the vehicle is in an unstable driving condition.

[0193] Optionally, the current vehicle speed acquisition sub-module is further configured to:

[0194] Determine a reference vehicle speed corresponding to the vehicle based on the maximum value of the rotational speed of the front drive motor and the rotational speed of the rear drive motor;

[0195] Correct the reference vehicle speed based on the maximum value of the rotational speed change rate of the front drive motor and the rotational speed change rate of the rear drive motor, and use the corrected reference vehicle speed as the current vehicle speed.

[0196] The specific implementation manner of the vehicle torque control system in this application is basically the same as that of each embodiment of the above vehicle torque control method, and will not be elaborated here.

[0197] This application embodiment also provides a vehicle, which includes a power battery, at least two drive motors, and the vehicle torque control system as described above.

[0198] This application embodiment also provides a storage medium, on which a vehicle torque control program is stored. When the vehicle torque control program is executed by a processor, the steps of the vehicle torque control method as described above are implemented.

[0199] The specific implementation manner of the storage medium of this application is basically the same as that of each embodiment of the above vehicle torque control method, and will not be elaborated here.

[0200] It should be noted that in this article, the term "including", "comprising" or any other variation thereof is intended to cover a non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or system. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or system including that element.

[0201] The serial numbers of the above embodiments of this application are only for description and do not represent the advantages and disadvantages of the embodiments.

[0202] Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. The computer software product is stored in a storage medium as described above (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions for causing a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present application.

[0203] The above are only the preferred embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present application.

Claims

1. A vehicle torque control method, characterized in that, Applied to a vehicle including a power battery and at least two drive motors, the vehicle torque control method includes the following steps: Obtain the total permitted drive power that the power battery can provide to the drive motors, the permitted drive power of each drive motor, the permitted torque of each drive motor, the vehicle's total vehicle torque, and the current vehicle speed; Based on the total permitted drive power, the permitted drive power of each drive motor, the permitted torque of each drive motor, and the current vehicle speed, limit the total vehicle torque according to the power consumption minimization logic to obtain the total vehicle torque limit value and the target torque distribution coefficient of the vehicle; Based on the total vehicle torque limit value and the target torque distribution coefficient, determine the expected torque corresponding to each drive motor; Perform filtering processing on the expected torque to obtain the filtered expected torque; Based on the filtered expected torque corresponding to each drive motor and the speed of each drive motor, determine the expected total power of the vehicle; Compare the expected total power with the total permitted drive power, and according to the comparison result, select the corresponding distribution strategy to perform torque distribution on each drive motor.

2. The vehicle torque control method according to claim 1, characterized in that The step of comparing the expected total power with the total permitted drive power and, according to the comparison result, selecting the corresponding distribution strategy to perform torque distribution on each drive motor includes: If the difference between the expected total power and the total permitted drive power is greater than a preset threshold, limit the expected torque corresponding to each drive motor based on the permitted drive power and permitted torque of each drive motor to obtain the target torque corresponding to each drive motor, and perform torque distribution on each drive motor based on the target torque; If the difference between the expected total power and the total permitted drive power is less than or equal to the preset threshold, limit the total vehicle torque according to the preset conditions to obtain the total vehicle torque limit value of the vehicle, and return to the step of determining the expected torque corresponding to each drive motor based on the total vehicle torque limit value and the target torque distribution coefficient.

3. The vehicle torque control method according to claim 2, characterized in that, The step of limiting the total vehicle torque according to the preset conditions to obtain the total vehicle torque limit value of the vehicle includes: Based on the expected torque corresponding to each drive motor, determine the torque distribution coefficient of each drive motor; Calculate the second permitted drive power of each drive motor based on the torque distribution coefficient and the total permitted drive power; Based on the second permitted drive power and the current vehicle speed, limit the total vehicle torque to obtain the total vehicle torque limit value of the vehicle.

4. The vehicle torque control method according to claim 1, characterized in that, The step of limiting the total vehicle torque according to the power consumption minimization logic based on the total permitted drive power, the permitted drive power of each drive motor, the permitted torque of each drive motor, and the current vehicle speed to obtain the total vehicle torque limit value and the target torque distribution coefficient of the vehicle includes: Based on the total permitted drive power, the permitted drive power of each drive motor, the permitted torque of each drive motor, and the current vehicle speed, limit the total vehicle torque according to the power consumption minimization logic to obtain the total vehicle torque limit value of the vehicle; Based on the total vehicle torque limit value and the current vehicle speed, determine the target torque distribution coefficient.

5. The vehicle torque control method according to claim 4, wherein Before the step of determining the target torque distribution coefficient based on the vehicle torque limit value and the current vehicle speed, the following steps are further included: Perform filtering processing on the vehicle torque limit value to obtain the filtered vehicle torque limit value; The step of determining the target torque distribution coefficient based on the vehicle torque limit value and the current vehicle speed includes: Determine the target torque distribution coefficient based on the filtered vehicle torque limit value and the current vehicle speed.

6. The vehicle torque control method according to claim 4 or 5, characterized in that, The step of determining the target torque distribution coefficient based on the vehicle torque limit value and the current vehicle speed includes: Determine the corresponding speed of each drive motor based on the current vehicle speed; Based on the vehicle torque limit value and the corresponding speeds of each drive motor, query the pre-set second MAP table to determine the torque distribution coefficient corresponding to each drive motor, where the second MAP table is used to represent the mapping relationship of torque - corresponding speed of each drive motor - torque distribution coefficient corresponding to each drive motor.

7. A vehicle torque control system, characterized in that, The vehicle torque control system includes: An energy management module, configured to obtain the permitted total drive power that the power battery can provide to the drive motor, the permitted drive power of each drive motor, the permitted torque of each drive motor, the vehicle torque of the vehicle, and the current vehicle speed; A torque management module, configured to limit the vehicle torque according to the power consumption minimization logic based on the permitted drive power of each drive motor, the permitted torque of each drive motor, and the current vehicle speed, to obtain the vehicle torque limit value and the target torque distribution coefficient of the vehicle, determine the expected torque corresponding to each drive motor based on the vehicle torque limit value and the target torque distribution coefficient, perform filtering processing on the expected torque to obtain the filtered expected torque, determine the expected total power of the vehicle based on the filtered expected torque corresponding to each drive motor and the speed of each drive motor, compare the expected total power with the permitted total drive power, and select the corresponding distribution strategy according to the comparison result to perform torque distribution on each drive motor.

8. A vehicle, characterized in that, The vehicle includes a power battery, at least two drive motors, and the vehicle torque control system as claimed in claim 7.

9. A storage medium, characterized in that, A vehicle torque control program is stored on the storage medium, and when the vehicle torque control program is executed by a processor, the steps of the vehicle torque control method as claimed in any one of claims 1 to 6 are implemented.

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