Method, device and vehicle for torque distribution between front and rear axles of vehicle

Abstract

The present disclosure relates to a method and apparatus for torque distribution of a vehicle's front and rear axles, and a vehicle. The method includes: obtaining a current target driving mode of the vehicle; determining a target correlation between vehicle state data and a torque distribution ratio, the target correlation corresponding to the target driving mode, and the vehicle state data including vehicle speed and the opening degree of the vehicle's entire pedal; determining a first torque distribution ratio according to the current vehicle state data and the target correlation, the first torque distribution ratio being used to distribute torque to the front axle and the rear axle of the vehicle. The above technical solution also considers the driving mode of the vehicle when distributing torque to the front axle and the rear axle of the vehicle, so that different front and rear axle torque distribution strategies can be adopted for different driving modes, and ultimately the driving performance and power performance of the vehicle can be improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of vehicles, and more particularly, to a method and device for torque distribution between the front and rear axles of a vehicle, and a vehicle. Background Art

[0002] Torque distribution between the front and rear axles of hybrid electric vehicles and pure electric vehicle models is an important link in the overall vehicle torque calculation, which directly affects the driving performance and power performance of the vehicle. At present, new energy vehicle models with additional drive motors on the rear axle are increasing in the automotive market, but the torque distribution methods are relatively single, which may reduce the driving performance and power performance of the vehicle. Summary of the Invention

[0003] The purpose of the present disclosure is to provide a method and device for torque distribution between the front and rear axles of a vehicle, and a vehicle, so as to solve the above-mentioned related technical problems.

[0004] To achieve the above object, according to the first aspect of the embodiments of the present disclosure, a method for torque distribution between the front and rear axles of a vehicle is provided, including:

[0005] Obtain the current target driving mode of the vehicle;

[0006] Determine the target correlation relationship between the vehicle state data and the torque distribution ratio, the target correlation relationship corresponding to the target driving mode, and the vehicle state data including vehicle speed and the opening degree of the vehicle pedal;

[0007] Determine the first torque distribution ratio according to the current vehicle state data and the target correlation relationship, the first torque distribution ratio being used to distribute torque to the front axle and the rear axle of the vehicle.

[0008] Optionally, it further includes:

[0009] Determine the first correlation relationship between the rotational speed of the transmission input shaft, the transmission gear position, and the torque distribution influence parameter, the first correlation relationship corresponding to the target driving mode;

[0010] Obtain the current rotational speed of the transmission input shaft and the transmission gear position of the vehicle;

[0011] Determine the first torque distribution influence parameter according to the current rotational speed of the transmission input shaft, the transmission gear position, and the first correlation relationship;

[0012] Adjust the first torque distribution ratio based on the first torque distribution influence parameter to obtain a second torque distribution ratio, the second torque distribution ratio being used to distribute torque to the front axle and the rear axle of the vehicle.

[0013] Optionally, it further includes:

[0014] Determine a second correlation relationship between the engine state data and the torque distribution influence parameter, where the second correlation relationship corresponds to the target driving mode;

[0015] Obtain the current engine state data of the vehicle;

[0016] Determine a second torque distribution influence parameter according to the current engine state data and the second correlation relationship;

[0017] Adjust the first torque distribution ratio based on the second torque distribution influence parameter to obtain a third torque distribution ratio, and the third torque distribution ratio is used to distribute torque to the front axle and the rear axle of the vehicle.

[0018] Optionally, it further includes:

[0019] Determine a first correlation relationship between the transmission input shaft speed, the transmission gear position, and the torque distribution influence parameter, where the first correlation relationship corresponds to the target driving mode;

[0020] Obtain the current transmission input shaft speed and the transmission gear position of the vehicle;

[0021] Determine a first torque distribution influence parameter according to the current transmission input shaft speed, the transmission gear position, and the first correlation relationship;

[0022] Adjust the third torque distribution ratio based on the first torque distribution influence parameter to obtain a fourth torque distribution ratio, and the fourth torque distribution ratio is used to distribute torque to the front axle and the rear axle of the vehicle.

[0023] Optionally, it further includes:

[0024] Determine a third correlation relationship between the vehicle speed, the slope of the road where the vehicle is located, and the torque distribution ratio, where the third correlation relationship corresponds to the target driving mode;

[0025] Determine a first candidate torque distribution ratio according to the current vehicle speed, slope, and the third correlation relationship;

[0026] Wherein, when the first torque distribution ratio is the front axle torque distribution ratio, if the slope is greater than the first slope threshold, then take the smaller value of the first candidate torque distribution ratio and the fourth torque distribution ratio as the fifth torque distribution ratio; if the slope is less than the second slope threshold, then take the larger value of the first candidate torque distribution ratio and the fourth torque distribution ratio as the fifth torque distribution ratio, and the fifth torque distribution ratio is used to distribute torque to the front axle of the vehicle, and the second slope threshold is less than the first slope threshold.

[0027] Optionally, the method further includes:

[0028] Determine a fourth correlation relationship among the vehicle speed, the steering wheel rotation speed, and the torque distribution ratio, where the fourth correlation relationship corresponds to the target driving mode;

[0029] Determine a second candidate torque distribution ratio according to the current vehicle speed, the steering wheel rotation speed, and the fourth correlation relationship;

[0030] Determine a fifth correlation relationship between the steering wheel rotation angle and the torque distribution influence parameter, where the fifth correlation relationship corresponds to the target driving mode;

[0031] Obtain the current steering wheel rotation angle of the vehicle;

[0032] Determine a third torque distribution influence parameter according to the current steering wheel rotation angle and the fifth correlation relationship;

[0033] Calculate the product of the fifth torque distribution ratio and the third torque distribution influence parameter;

[0034] Calculate the sum of the product and the second candidate torque distribution ratio to obtain a sixth torque distribution ratio, where the sixth torque distribution ratio is used to distribute torque to the front axle and the rear axle of the vehicle.

[0035] Optionally, it further includes:

[0036] Determine that the vehicle is in a battery heating condition or a coasting energy recovery condition;

[0037] Increase the torque distribution priority of the rear axle to obtain a seventh torque distribution ratio, where the seventh torque distribution ratio is used to distribute torque to the front axle and the rear axle of the vehicle.

[0038] Optionally, it further includes:

[0039] When the difference between the seventh torque distribution ratio at the current moment and the target torque distribution ratio at the previous moment of the current moment is greater than a preset threshold, determine multiple time steps;

[0040] Based on the difference and the multiple time steps, determine the change amount of the torque distribution ratio corresponding to each time step;

[0041] Based on each change amount, adjust the target torque distribution ratio so that the torque distribution ratio of the vehicle after the multiple time steps is the seventh torque distribution ratio.

[0042] According to the second aspect of the embodiments of the present disclosure, there is provided a device for distributing torque between the front and rear axles of a vehicle, including:

[0043] A first acquisition module, configured to acquire the current target driving mode of the vehicle;

[0044] A first determination module, configured to determine a target association relationship between vehicle state data and a torque distribution ratio, where the target association relationship corresponds to the target driving mode, and the vehicle state data includes vehicle speed and the opening degree of the vehicle's pedals.

[0045] A first torque distribution ratio determination module, configured to determine a first torque distribution ratio according to the current vehicle state data and the target association relationship, where the first torque distribution ratio is used to distribute torque to the front axle and the rear axle of the vehicle.

[0046] Optionally, it further includes:

[0047] A second determination module, configured to determine a first association relationship between the rotational speed of the transmission input shaft, the transmission gear position, and the torque distribution influence parameter, where the first association relationship corresponds to the target driving mode;

[0048] A second acquisition module, configured to acquire the current rotational speed of the transmission input shaft and the transmission gear position of the vehicle;

[0049] A first influence parameter determination module, configured to determine a first torque distribution influence parameter according to the current rotational speed of the transmission input shaft, the transmission gear position, and the first association relationship;

[0050] A first adjustment module, configured to adjust the first torque distribution ratio based on the first torque distribution influence parameter to obtain a second torque distribution ratio, where the second torque distribution ratio is used to distribute torque to the front axle and the rear axle of the vehicle.

[0051] Optionally, it further includes:

[0052] A third determination module, configured to determine a second association relationship between engine state data and a torque distribution influence parameter, where the second association relationship corresponds to the target driving mode;

[0053] A third acquisition module, configured to acquire the current engine state data of the vehicle;

[0054] A second influence parameter determination module, configured to determine a second torque distribution influence parameter according to the current engine state data and the second association relationship;

[0055] A second adjustment module, configured to adjust the first torque distribution ratio based on the second torque distribution influence parameter to obtain a third torque distribution ratio, where the third torque distribution ratio is used to distribute torque to the front axle and the rear axle of the vehicle.

[0056] Optionally, it further includes:

[0057] A second determination module, configured to determine a first correlation relationship among the rotational speed of the transmission input shaft, the transmission gear position, and the torque distribution influence parameter, where the first correlation relationship corresponds to the target driving mode;

[0058] A second acquisition module, configured to acquire the current rotational speed of the transmission input shaft and the transmission gear position of the vehicle;

[0059] A first influence parameter determination module, configured to determine a first torque distribution influence parameter according to the current rotational speed of the transmission input shaft, the transmission gear position, and the first correlation relationship;

[0060] A third adjustment module, configured to adjust the third torque distribution ratio based on the first torque distribution influence parameter to obtain a fourth torque distribution ratio, where the fourth torque distribution ratio is used to distribute torque to the front axle and the rear axle of the vehicle.

[0061] Optionally, it further includes:

[0062] A fourth determination module, configured to determine a third correlation relationship among the vehicle speed, the slope of the road where the vehicle is located, and the torque distribution ratio, where the third correlation relationship corresponds to the target driving mode;

[0063] A second torque distribution ratio determination module, configured to determine a first candidate torque distribution ratio according to the current vehicle speed, slope, and the third correlation relationship;

[0064] Wherein, when the first torque distribution ratio is the front axle torque distribution ratio, if the slope is greater than the first slope threshold, the smaller of the first candidate torque distribution ratio and the fourth torque distribution ratio is used as the fifth torque distribution ratio; if the slope is less than the second slope threshold, the larger of the first candidate torque distribution ratio and the fourth torque distribution ratio is used as the fifth torque distribution ratio, and the fifth torque distribution ratio is used to distribute torque to the front axle of the vehicle, and the second slope threshold is less than the first slope threshold.

[0065] Optionally, the device further includes:

[0066] A fifth determination module, configured to determine a fourth correlation relationship among the vehicle speed, the steering wheel rotation speed, and the torque distribution ratio, where the fourth correlation relationship corresponds to the target driving mode;

[0067] A third torque distribution ratio determination module, configured to determine a second candidate torque distribution ratio according to the current vehicle speed, steering wheel rotation speed of the vehicle, and the fourth correlation relationship;

[0068] A sixth determination module, configured to determine a fifth correlation relationship between the steering wheel rotation angle and the torque distribution influence parameter, where the fifth correlation relationship corresponds to the target driving mode;

[0069] A fourth acquisition module is used to obtain the current steering wheel angle of the vehicle;

[0070] a third influencing parameter determining module, configured to determine a third torque distribution influencing parameter according to the current steering wheel angle and the fifth association relationship;

[0071] a first calculation module, configured to calculate a product of the fifth torque distribution ratio and the third torque distribution influencing parameter;

[0072] The second calculation module is used to calculate the sum of the product and the second candidate torque distribution ratio to obtain a sixth torque distribution ratio, and the sixth torque distribution ratio is used to distribute torque to the front axle and the rear axle of the vehicle.

[0073] Optionally, it also includes:

[0074] a seventh determining module, configured to determine whether the vehicle is in a battery heating operating condition or a coasting energy recovery operating condition;

[0075] The torque distribution priority adjustment module increases the torque distribution priority of the rear axle to obtain a seventh torque distribution ratio, where the seventh torque distribution ratio is used to distribute torque to the front axle and the rear axle of the vehicle.

[0076] Optionally, it also includes:

[0077] an eighth determining module, configured to determine a plurality of time steps when a difference between the seventh torque distribution ratio at a current moment and the target torque distribution ratio at a moment before the current moment is greater than a preset threshold;

[0078] a ninth determining module, configured to determine a change in the torque distribution ratio corresponding to each time step based on the difference and the plurality of time steps;

[0079] The fourth adjustment module is configured to adjust the target torque distribution ratio based on each of the changes so that the torque distribution ratio of the vehicle after the plurality of time steps is the seventh torque distribution ratio.

[0080] According to a third aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the steps of the method described in any one of the first aspects are implemented.

[0081] According to a fourth aspect of an embodiment of the present disclosure, there is provided a controller, including:

[0082] a memory having a computer program stored thereon;

[0083] A processor for executing the computer program in the memory to implement the steps of the method according to any one of the above first aspects.

[0084] According to a fifth aspect of the embodiments of the present disclosure, a vehicle is provided, including the controller described in the above fourth aspect.

[0085] In the above technical solution, when allocating torque to the front and rear axles of a vehicle, the current target driving mode of the vehicle can be obtained, and a target association relationship between the corresponding vehicle state data and the torque allocation ratio can be determined based on the target driving mode. In this way, a first torque allocation ratio can be determined based on the current vehicle state data and the target association relationship, and then torque can be allocated to the front axle and the rear axle of the vehicle according to the first torque allocation ratio. That is to say, the above technical solution also considers the driving mode of the vehicle when allocating torque to the front and rear axles of the vehicle, so that different front and rear axle torque allocation strategies can be adopted for different driving modes, ultimately achieving the effect of improving the driving performance and power performance of the vehicle.

[0086] Other features and advantages of the present disclosure will be elaborated in detail in the subsequent specific implementation section. Description of the Drawings

[0087] The drawings are used to provide a further understanding of the present disclosure, and constitute a part of the specification. Together with the following specific implementation, they are used to explain the present disclosure, but do not constitute a limitation to the present disclosure. In the drawings:

[0088] Figure 1 is a flowchart of a method for allocating torque between the front and rear axles of a vehicle shown in an exemplary embodiment of the present disclosure.

[0089] Figure 2 is a flowchart of a method for allocating torque between the front and rear axles of a vehicle shown in an exemplary embodiment of the present disclosure.

[0090] Figure 3 is a flowchart of a method for allocating torque between the front and rear axles of a vehicle shown in an exemplary embodiment of the present disclosure.

[0091] Figure 4 is a block diagram of a device for allocating torque between the front and rear axles of a vehicle shown in an exemplary embodiment of the present disclosure.

[0092] Figure 5 is a block diagram of a computing and processing device shown in an exemplary embodiment of the present disclosure.

[0093] Figure 6 is a block diagram of a storage unit for a program code for portable or fixed implementation of the method according to the present invention shown in an exemplary embodiment of the present disclosure. Detailed Description of the Invention

[0094] The specific embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for the purpose of illustrating and explaining the present disclosure, and are not intended to limit the present disclosure.

[0095] Before introducing the vehicle front and rear axle torque distribution method, device and vehicle of the present disclosure, the application scenarios of the present disclosure will be introduced first. Each embodiment provided by the present disclosure can be used in, for example, the torque distribution scenarios of the front axle and the rear axle of a vehicle. Among them, the vehicle can be, for example, a hybrid vehicle, a pure electric vehicle, etc.

[0096] In related scenarios, the torque of the front axle and the rear axle of the vehicle can be distributed according to certain variables such as the vehicle pedal opening, the steering wheel angle, the slope, etc. However, such a method considers less about the overall vehicle working conditions. Moreover, for different driving modes, using the same torque distribution strategy may also reduce the dynamic performance and driving economy of the whole vehicle.

[0097] Therefore, the present disclosure provides a vehicle front and rear axle torque distribution method. Figure 1 is a flowchart of a vehicle front and rear axle torque distribution method shown in the present disclosure, as Figure 1 shown, the method includes:

[0098] In step S11, obtain the current target driving mode of the vehicle. Here, the driving mode of the vehicle can include, for example, an economic mode, a standard driving mode, an electric mode, etc., and the target driving mode can be any one of them. Of course, based on the type difference of the vehicle, the vehicle can include different driving modes, which will not be elaborated in the present disclosure.

[0136]

[0099] In step S12, determine the target correlation between the vehicle state data and the torque distribution ratio. Among them, the target correlation corresponds to the target driving mode, and the vehicle state data includes the vehicle speed and the vehicle pedal opening.

[0100] For example, in some implementation scenarios, for different driving modes of the vehicle, the MAP tables between the vehicle speed, the vehicle pedal opening and the torque distribution ratio can be calibrated and established respectively, and the MAP tables are stored in the storage medium of the vehicle. In this way, step S12 can refer to, after obtaining the current target driving mode of the vehicle, determining the MAP table corresponding to the target driving mode from the storage medium.

[0101] In step S13, determine the first torque distribution ratio according to the current vehicle state data and the target correlation, and the first torque distribution ratio is used to distribute torque to the front axle and the rear axle of the vehicle.

[0102] Continuing with the above example, after determining the MAP table corresponding to the target driving mode, the current vehicle speed and the overall vehicle pedal opening can be used to query the MAP table, thereby obtaining the corresponding first torque distribution ratio. In this way, the controller can distribute torque to the front axle and the rear axle of the vehicle based on the first torque distribution ratio.

[0103] For example, when the first torque distribution ratio obtained by querying the MAP table is the front axle torque distribution ratio X, it can be determined that the torque distribution ratio of the rear axle is 1 - X. In this way, the front axle torque can be the total required torque * X, and the rear axle torque can be the total required torque * (1 - X).

[0104] In the above technical solution, when distributing torque to the front and rear axles of the vehicle, the current target driving mode of the vehicle can be obtained, and the target correlation relationship between the corresponding vehicle state data and the torque distribution ratio can be determined based on the target driving mode. In this way, the first torque distribution ratio can be determined based on the current vehicle state data and the target correlation relationship, and then torque can be distributed to the front axle and the rear axle of the vehicle according to the first torque distribution ratio. That is to say, the above technical solution also considers the driving mode of the vehicle when distributing torque to the front and rear axles of the vehicle, so it can adopt different front and rear axle torque distribution strategies for different driving modes, and ultimately achieve the effect of improving the driving performance and power performance of the vehicle.

[0105] In some possible implementation manners, the vehicle may further include an engine. In this case, the torque distribution ratio of the front and rear axles of the vehicle can also be adjusted in combination with the state of the engine. Referring to Figure 2 the flowchart of a method for distributing torque to the front and rear axles of a vehicle shown, the method further includes on the basis of Figure 1 :

[0106] Step S14, determining a second correlation relationship between the engine state data and the torque distribution influence parameter, where the second correlation relationship corresponds to the target driving mode.

[0107] Among them, the engine state data may, for example, include the engine water temperature, the engine speed, the atmospheric pressure of the environment where the engine is located, and so on. In specific implementation, for each driving mode, a second correlation relationship between each state data and the corresponding torque distribution influence parameter can be established. Correspondingly, the torque distribution influence parameter may include the torque distribution influence parameter corresponding to each state data.

[0108] For example, a correlation relationship can be established between the engine water temperature and the influence parameter of water temperature torque distribution. It should be understood that when the engine water temperature is low, the engine is in a poor working state, and at this time, a large torque should not be allocated to the engine. Therefore, corresponding influence parameters of water temperature torque distribution can be set so that when the engine water temperature is low, the torque on the engine side can be reduced. Exemplarily, when the water temperature of the front axle engine is low, the corresponding influence parameter of water temperature torque distribution can be adjusted from 1 to 0.8, and the current front axle torque distribution ratio is multiplied by 0.8, and the product obtained is the new front axle torque distribution ratio.

[0109] Of course, a correlation relationship (such as a MAP table) can also be established between the atmospheric pressure and the influence parameter of air pressure torque distribution. It should be understood that when the atmospheric pressure of the environment where the engine is located is low, the engine is in a poor working state, and at this time, a large torque should not be allocated to the engine. Therefore, corresponding influence parameters of air pressure torque distribution can be set so that when the atmospheric pressure is low, the torque on the engine side can be reduced.

[0110] Step S15, obtain the current engine state data of the vehicle, for example, the engine water temperature and the atmospheric pressure of the environment where the engine is located.

[0111] Step S16, determine the second torque distribution influence parameter according to the current engine state data and the second correlation relationship.

[0112] Exemplarily, when considering the engine water temperature, the influence parameter of water temperature torque distribution can be determined based on the engine water temperature and the correlation relationship between the engine water temperature and the influence parameter of water temperature torque distribution. In this case, the second torque distribution influence parameter can refer to the influence parameter of water temperature torque distribution. Similarly, when considering the atmospheric pressure, the second torque distribution influence parameter can refer to the determined influence parameter of air pressure torque distribution.

[0113] In addition, in some implementation scenarios, multiple engine state data can also be considered simultaneously. In this case, comprehensive calculations can be performed on the torque distribution influence parameters corresponding to various types of engine state data, and the calculation result is used as the second torque distribution influence parameter. For example, when considering the engine water temperature and the atmospheric pressure, the product of the above-mentioned influence parameter of water temperature torque distribution and the influence parameter of air pressure torque distribution can be used as the second torque distribution influence parameter.

[0114] Step S17, adjust the first torque distribution ratio based on the second torque distribution influence parameter to obtain the third torque distribution ratio.

[0115] For example, the product of the second torque distribution influencing parameter and the first torque distribution ratio may be used as the third torque distribution ratio, and torque may be distributed to the front axle and the rear axle of the vehicle according to the third torque distribution ratio.

[0116] The above technical solution also takes into account the vehicle's driving mode and engine status when distributing torque to the front and rear axles of the vehicle. That is, it can adopt different front and rear axle torque distribution strategies based on the driving mode and engine status, ultimately improving the vehicle's driving performance and power performance.

[0117] In some possible implementations, the torque distribution ratio between the front and rear axles of the vehicle can also be adjusted in combination with the state of the gearbox. Figure 3 The flowchart of a method for distributing torque between front and rear axles of a vehicle is shown. Figure 1 On top of that, it also includes:

[0118] Step S18: determining a first correlation relationship among the transmission input shaft speed, the transmission gear position, and the torque distribution influencing parameter, wherein the first correlation relationship corresponds to the target driving mode.

[0119] Taking the front axle transmission as an example, when the front axle transmission input shaft speed is high, the vehicle's NVH (Noise, Vibration, Harshness) performance is poor. Allocating a large amount of torque to the front axle in this situation can cause the vehicle to become eccentric. Therefore, a first torque distribution influencing parameter can be set, and a first correlation between the front axle transmission input shaft speed, transmission gear position, and the torque distribution influencing parameter can be established for each driving mode. This way, when the front axle transmission input shaft speed is high, the first torque distribution influencing parameter can be reduced, thereby reducing front axle torque.

[0120] Step S19: Obtain the current transmission input shaft speed and transmission gear position of the vehicle.

[0121] Step S110 : determining a first torque distribution influencing parameter according to the current transmission input shaft speed, the transmission gear position, and the first association relationship.

[0122] Step S111: adjusting the first torque distribution ratio based on the first torque distribution influencing parameter to obtain a second torque distribution ratio, where the second torque distribution ratio is used to distribute torque to the front axle and the rear axle of the vehicle.

[0123] Continuing with the above example, the product of the first torque distribution influencing parameter and the current front axle torque distribution ratio can be calculated, and the product can be used as the new front axle torque distribution ratio A. In this way, the torque distribution ratio of the rear axle is 1-A.

[0124] When allocating torque to the front axle and rear axle of a vehicle, the above technical solution also takes into account the driving mode of the vehicle and the rotational speed of the transmission input shaft. That is, different front and rear axle torque distribution strategies can be adopted based on the driving mode and the rotational speed of the transmission input shaft, ultimately achieving the effect of improving the NVH performance of the vehicle.

[0125] It should be noted that in the above embodiments, the method for distributing torque between the front and rear axles of the vehicle according to the present disclosure is described from the perspectives of the engine state and the rotational speed of the transmission input shaft respectively. However, those of ordinary skill in the art should know that when allocating torque, the engine state and the rotational speed of the transmission input shaft can also be considered simultaneously. In this case, the method may further include: Figure 2 on the basis of

[0126] determining a first correlation relationship among the rotational speed of the transmission input shaft, the transmission gear position, and the torque distribution influence parameter, where the first correlation relationship corresponds to the target driving mode;

[0127] acquiring the current rotational speed of the transmission input shaft and the transmission gear position of the vehicle;

[0128] determining a first torque distribution influence parameter according to the current rotational speed of the transmission input shaft, the transmission gear position, and the first correlation relationship;

[0129] adjusting the third torque distribution ratio based on the first torque distribution influence parameter to obtain a fourth torque distribution ratio, where the fourth torque distribution ratio is used to allocate torque to the front axle and rear axle of the vehicle.

[0130] In this way, when allocating torque between the front and rear axles, the engine state and the rotational speed of the transmission input shaft can be considered simultaneously, thereby improving the accuracy of front and rear axle torque distribution and contributing to improving the driving performance of the vehicle.

[0131] Continuing with the example of simultaneously considering the engine state and the rotational speed of the transmission input shaft, in some possible implementation scenarios, the road gradient can also be considered when allocating torque between the front and rear axles. In this case, the method may further include:

[0132] determining a third correlation relationship among the vehicle speed, the gradient of the road where the vehicle is located, and the torque distribution ratio. Here, the third correlation relationship corresponds to the target driving mode. In specific implementation, for example, a MAP table among the vehicle speed, the gradient of the road where the vehicle is located, and the torque distribution ratio can be established for each driving mode. In this way, after obtaining the current target driving mode of the vehicle, the MAP table among the vehicle speed, the gradient of the road where the vehicle is located, and the torque distribution ratio corresponding to this target driving mode can be looked up.

[0133] Further, determine the first candidate torque distribution ratio according to the current vehicle speed, slope, and the third correlation.

[0134] Taking the first torque distribution ratio as the front axle torque distribution ratio as an example, when the slope is greater than the first slope threshold, it can be determined that the vehicle is in an uphill state. In this case, the smaller of the first candidate torque distribution ratio and the fourth torque distribution ratio can be used as the fifth torque distribution ratio, and the fifth torque distribution ratio is used to distribute torque to the front axle of the vehicle. Thus, by selecting a smaller front axle torque distribution ratio, the climbing performance of the vehicle can be improved. Similarly, when the slope is less than the second slope threshold (the second slope threshold is less than the first slope threshold), it can be determined that the vehicle is in a downhill state. In this case, the larger of the first candidate torque distribution ratio and the fourth torque distribution ratio can be used as the fifth torque distribution ratio, and the fifth torque distribution ratio is used to distribute torque to the front axle of the vehicle.

[0135] Of course, when the first torque distribution ratio is the rear axle torque distribution ratio, if the slope is greater than the first slope threshold, the larger of the first candidate torque distribution ratio and the fourth torque distribution ratio can also be used as the fifth torque distribution ratio; if the slope is less than the second slope threshold, the smaller of the first candidate torque distribution ratio and the fourth torque distribution ratio can also be used as the fifth torque distribution ratio, and the fifth torque distribution ratio is used to distribute torque to the rear axle of the vehicle. The present disclosure does not limit this.

[0136] In addition, it is worth noting that in some implementation scenarios, the vehicle may not have an engine. In this case, the front and rear axle torque distribution method of the vehicle can also be determined based on Figure 1 the first torque distribution ratio determined therein and the first candidate torque distribution ratio. The implementation method thereof can refer to the above process of determining the fifth torque distribution ratio according to the first candidate torque distribution ratio and the fourth torque distribution ratio, and the present disclosure will not elaborate herein.

[0137] In some implementation scenarios, the front and rear axle torque can also be distributed in combination with the steering wheel rotation speed and the steering wheel rotation angle. In this case, the method further includes:

[0138] Determine the fourth correlation relationship among the vehicle speed, the steering wheel rotation speed, and the torque distribution ratio, where the fourth correlation relationship corresponds to the target driving mode. In specific implementation, for example, a MAP table among the vehicle speed, the steering wheel rotation speed, and the torque distribution ratio can be established for each driving mode. Thus, after obtaining the current target driving mode of the vehicle, the MAP table among the vehicle speed, the steering wheel rotation speed, and the torque distribution ratio corresponding to this target driving mode can be looked up, that is, the fourth correlation relationship. Thus, determine the second candidate torque distribution ratio according to the current vehicle speed, the steering wheel rotation speed, and the fourth correlation relationship;

[0139] In addition, the fifth correlation relationship between the steering wheel rotation angle and the torque distribution influence parameter can also be determined, where the fifth correlation relationship corresponds to the target driving mode. Thus, the current steering wheel rotation angle of the vehicle can be obtained, and the third torque distribution influence parameter can be determined according to the current steering wheel rotation angle and the fifth correlation relationship.

[0140] After obtaining the second candidate torque distribution ratio and the third torque distribution influence parameter, calculate the product of the fifth torque distribution ratio and the third torque distribution influence parameter, and calculate the sum value of the product and the second candidate torque distribution ratio to obtain the sixth torque distribution ratio. Among them, the sixth torque distribution ratio is used to distribute torque to the front axle and the rear axle of the vehicle.

[0141] Adopting the above technical solution, when distributing the torque of the front and rear axles, the influence of the vehicle speed, the whole vehicle pedal opening, the engine state, the transmission input shaft speed, the transmission gear, the slope, the steering wheel rotation angle, and the steering wheel rotation speed rate on the torque of the front and rear axles under different driving modes is also considered, so as to improve the driving performance and power performance of the vehicle.

[0142] In a possible implementation, the method further includes:

[0143] Determine that the vehicle is in the battery heating working condition or the coasting energy recovery working condition. When the vehicle is in the battery heating working condition or the coasting energy recovery working condition, the front axle of the whole vehicle does not participate in driving, and at the same time, the engine and the front axle motor are used for power generation, and the rear axle motor participates in driving.

[0144] Therefore, in this case, the torque distribution priority of the rear axle can be increased to obtain a seventh torque distribution ratio, which is used to distribute torque to the front axle and the rear axle of the vehicle. For example, in some embodiments, the seventh torque distribution ratio can be calculated based on the torque demand of the rear axle (i.e., the torque demand of the rear axle is preferentially satisfied), and the remaining torque distribution ratio is used as the torque distribution ratio of the front axle. Of course, in some embodiments, the corresponding torque distribution ratio can also be calibrated and set based on information such as the vehicle condition and driving mode as the seventh torque distribution ratio, and the present disclosure does not limit this.

[0145] In addition, in some implementation scenarios, when the vehicle is in working conditions such as pure electric creep, braking energy recovery, and rapid charging, torque can also be preferentially distributed to the rear axle. By doing so, the economy of the whole vehicle can be improved.

[0146] It should be noted that, in some implementation scenarios, due to factors such as changes in working conditions and switching of driving modes, the seventh torque distribution ratio may also undergo corresponding jumps, resulting in driving problems. Therefore, the seventh torque distribution ratio can also be filtered.

[0147] In this case, the method further includes:

[0148] When the difference between the seventh torque distribution ratio at the current moment and the target torque distribution ratio at the previous moment of the current moment is greater than a preset threshold, determine multiple time steps;

[0149] Based on the difference and the multiple time steps, determine the change amount of the torque distribution ratio corresponding to each time step;

[0150] Based on each change amount, adjust the target torque distribution ratio so that the torque distribution ratio of the vehicle after the multiple time steps is the seventh torque distribution ratio.

[0151] For example, when the seventh torque distribution ratio at the current moment is 75% and the target torque distribution ratio at the previous moment of the current moment is 25%, 5 time steps can be set, and the change amount of the torque distribution ratio for each time step is determined to be 10%. In this way, based on the target torque distribution ratio, the target torque distribution ratio can be increased by 10% at each time step, so that after 5 time steps, the torque distribution ratio of the vehicle reaches 75%.

[0152] By doing so, the jump problem of the seventh torque distribution ratio caused by factors such as changes in working conditions and switching of driving modes can be reduced, and the driving risk can be lowered.

[0153] In addition, in some implementation scenarios, the torque ratio limit values for the front axle and / or the rear axle can also be determined in combination with the slope, vehicle speed, and the State of Charge (SOC) of the power battery. The method for determining the torque ratio limit values based on the slope, vehicle speed, and the SOC of the power battery can be referred to the description of related technologies, and will not be elaborated herein.

[0154] After obtaining the torque ratio limit values, the torques of the front and rear axles can be distributed in combination with the torque ratio limit values. For example, in the first distribution, the front axle torque 1 = the vehicle's required torque * A (determined based on the vehicle front and rear axle torque distribution method of the present disclosure), and the rear axle torque 1 = the vehicle's required torque - the front axle torque 1.

[0155] Among them, if the torque ratio distributed to the front axle or the rear axle is greater than the corresponding torque ratio limit value, a second torque distribution can be performed. Taking the torque ratio A distributed to the front axle being greater than the corresponding torque ratio limit value B as an example, in the second torque distribution, the difference between A and B can be calculated, and the product of the difference and the vehicle's required torque can be calculated, denoted as ΔTqf1. Thus, in the second distribution, the rear axle torque 2 = ΔTqf1 + the rear axle torque 1. Similarly, when the rear axle torque 2 exceeds the limit, the front axle torque can be compensated in the above manner, which will not be elaborated herein.

[0156] Based on the same inventive concept, the present disclosure also provides a vehicle front and rear axle torque distribution device. Figure 4 is a block diagram of a vehicle front and rear axle torque distribution device shown in the present disclosure, as Figure 4 held, the device 400 includes:

[0157] A first acquisition module 401, configured to acquire the current target driving mode of the vehicle;

[0158] A first determination module 402, configured to determine the target association relationship between the vehicle state data and the torque distribution ratio, the target association relationship corresponding to the target driving mode, and the vehicle state data including the vehicle speed and the overall vehicle pedal opening;

[0159] A first torque distribution ratio determination module 403, configured to determine a first torque distribution ratio according to the current vehicle state data and the target association relationship, the first torque distribution ratio being used to distribute torques to the front axle and the rear axle of the vehicle.

[0160] In the above technical solution, when allocating torque to the front and rear axles of the vehicle, the current target driving mode of the vehicle can be obtained, and based on the target driving mode, the target correlation relationship between the corresponding vehicle state data and the torque allocation ratio can be determined. In this way, the first torque allocation ratio can be determined based on the current vehicle state data and the target correlation relationship, and then the torque can be allocated to the front axle and rear axle of the vehicle according to the first torque allocation ratio. That is to say, the above technical solution also considers the driving mode of the vehicle when allocating torque to the front axle and rear axle of the vehicle, so different front and rear axle torque allocation strategies can be adopted for different driving modes, ultimately achieving the effect of improving the driving performance and power performance of the vehicle.

[0161] Optionally, the device 400 further includes:

[0162] A second determination module, configured to determine a first correlation relationship among the transmission input shaft speed, the transmission gear position, and the torque allocation influence parameter, where the first correlation relationship corresponds to the target driving mode;

[0163] A second acquisition module, configured to acquire the current transmission input shaft speed and the transmission gear position of the vehicle;

[0164] A first influence parameter determination module, configured to determine a first torque allocation influence parameter according to the current transmission input shaft speed, the transmission gear position, and the first correlation relationship;

[0165] A first adjustment module, configured to adjust the first torque allocation ratio based on the first torque allocation influence parameter to obtain a second torque allocation ratio, and the second torque allocation ratio is used to allocate torque to the front axle and rear axle of the vehicle.

[0166] Optionally, the device 400 further includes:

[0167] A third determination module, configured to determine a second correlation relationship between the engine state data and the torque allocation influence parameter, where the second correlation relationship corresponds to the target driving mode;

[0168] A third acquisition module, configured to acquire the current engine state data of the vehicle;

[0169] A second influence parameter determination module, configured to determine a second torque allocation influence parameter according to the current engine state data and the second correlation relationship;

[0170] A second adjustment module, configured to adjust the first torque allocation ratio based on the second torque allocation influence parameter to obtain a third torque allocation ratio, and the third torque allocation ratio is used to allocate torque to the front axle and rear axle of the vehicle.

[0171] Optionally, the device 400 further includes:

[0172] A second determination module, configured to determine a first correlation relationship among the rotational speed of the transmission input shaft, the transmission gear position, and the torque distribution influence parameter, where the first correlation relationship corresponds to the target driving mode;

[0173] A second acquisition module, configured to acquire the rotational speed of the transmission input shaft and the transmission gear position of the vehicle currently;

[0174] A first influence parameter determination module, configured to determine a first torque distribution influence parameter according to the current rotational speed of the transmission input shaft, the transmission gear position, and the first correlation relationship;

[0175] A third adjustment module, configured to adjust the third torque distribution ratio based on the first torque distribution influence parameter to obtain a fourth torque distribution ratio, where the fourth torque distribution ratio is used to distribute torque to the front axle and the rear axle of the vehicle.

[0176] Optionally, the device 400 further includes:

[0177] A fourth determination module, configured to determine a third correlation relationship among the vehicle speed, the slope of the road where the vehicle is located, and the torque distribution ratio, where the third correlation relationship corresponds to the target driving mode;

[0178] A second torque distribution ratio determination module, configured to determine a first candidate torque distribution ratio according to the current vehicle speed, slope, and the third correlation relationship;

[0179] Wherein, when the first torque distribution ratio is the front axle torque distribution ratio, if the slope is greater than a first slope threshold, the smaller of the first candidate torque distribution ratio and the fourth torque distribution ratio is used as the fifth torque distribution ratio; if the slope is less than a second slope threshold, the larger of the first candidate torque distribution ratio and the fourth torque distribution ratio is used as the fifth torque distribution ratio, where the fifth torque distribution ratio is used to distribute torque to the front axle of the vehicle, and the second slope threshold is less than the first slope threshold.

[0180] Optionally, the device 400 further includes:

[0181] A fifth determination module, configured to determine a fourth correlation relationship among the vehicle speed, the rotational speed of the steering wheel, and the torque distribution ratio, where the fourth correlation relationship corresponds to the target driving mode;

[0182] A third torque distribution ratio determination module, configured to determine a second candidate torque distribution ratio according to the current vehicle speed, the rotational speed of the steering wheel, and the fourth correlation relationship;

[0183] A sixth determination module, configured to determine a fifth correlation relationship between the steering wheel rotation angle and the torque distribution influence parameter, where the fifth correlation relationship corresponds to the target driving mode;

[0184] A fourth acquisition module, configured to acquire the current steering wheel rotation angle of the vehicle;

[0185] A third influence parameter determination module, configured to determine a third torque distribution influence parameter according to the current steering wheel rotation angle and the fifth correlation relationship;

[0186] A first calculation module, configured to calculate the product of the fifth torque distribution ratio and the third torque distribution influence parameter;

[0187] A second calculation module, configured to calculate the sum of the product and the second candidate torque distribution ratio to obtain a sixth torque distribution ratio, where the sixth torque distribution ratio is used to distribute torque to the front axle and the rear axle of the vehicle.

[0188] Optionally, the apparatus 400 further includes:

[0189] A seventh determination module, configured to determine that the vehicle is in a battery heating condition or a coasting energy recovery condition;

[0190] A torque distribution priority adjustment module, which raises the torque distribution priority of the rear axle to obtain a seventh torque distribution ratio, where the seventh torque distribution ratio is used to distribute torque to the front axle and the rear axle of the vehicle.

[0191] Optionally, the apparatus 400 further includes:

[0192] An eighth determination module, configured to determine a plurality of time steps when the difference between the seventh torque distribution ratio at the current moment and the target torque distribution ratio at the previous moment of the current moment is greater than a preset threshold;

[0193] A ninth determination module, configured to determine the change amount of the torque distribution ratio corresponding to each time step based on the difference and the plurality of time steps;

[0194] A fourth adjustment module, configured to adjust the target torque distribution ratio based on each change amount, so that the torque distribution ratio of the vehicle after the plurality of time steps is the seventh torque distribution ratio.

[0195] Regarding the apparatus in the above embodiments, the specific manners in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated here.

[0196] The present disclosure also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the vehicle front and rear axle torque distribution method provided by the present disclosure are implemented.

[0197] The present disclosure also provides a controller, including:

[0198] A memory, on which a computer program is stored;

[0199] A processor, configured to execute the computer program in the memory to implement the steps of the vehicle front and rear axle torque distribution method provided by the present disclosure.

[0200] Figure 5 FIG. is a block diagram of a computing and processing device provided by an embodiment of the present disclosure. The computing and processing device can be configured as a vehicle controller, for example. Refer to Figure 5 , the computing and processing device generally includes a processor 510 and a computer program product or a computer-readable medium in the form of a memory 530. The memory 530 can be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read-only memory), an EPROM, a hard disk, or a ROM. The memory 530 has a storage space 550 for the program code 551 for executing any method step in the above vehicle front and rear axle torque distribution method. For example, the storage space 550 for the program code can include respective program codes 551 for implementing various steps in the above vehicle front and rear axle torque distribution method. These program codes can be read out from or written into one or more computer program products. These computer program products include program code carriers such as hard disks, compact discs (CDs), memory cards, or floppy disks. Such computer program products are usually portable or fixed storage units as Figure 6 shown. The storage unit can have a storage segment, a storage space, etc. arranged similarly to the memory 530 in the Figure 5 computing and processing device. The program code can be compressed in an appropriate form, for example. Generally, the storage unit includes computer-readable code 551’, that is, code that can be read by a processor such as 510, and when these codes are run by the computing and processing device, the computing and processing device is caused to execute each step in the above-described vehicle front and rear axle torque distribution method.

[0201] The present disclosure also provides a vehicle, including the controller provided by the present disclosure.

[0202] In this way, when allocating torque to the front and rear axles of the vehicle, the current target driving mode of the vehicle can be obtained, and the target association relationship between the corresponding vehicle state data and the torque allocation ratio can be determined based on the target driving mode. In this way, the first torque allocation ratio can be determined based on the current vehicle state data and the target association relationship, and then the torque can be allocated to the front and rear axles of the vehicle according to the first torque allocation ratio. That is to say, the above technical solution also considers the driving mode of the vehicle when allocating torque to the front and rear axles of the vehicle, so that different front and rear axle torque allocation strategies can be adopted for different driving modes, ultimately achieving the effect of improving the driving performance and power performance of the vehicle.

[0203] The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings. However, the present disclosure is not limited to the specific details in the above embodiments. Within the scope of the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0204] In addition, it should be noted that, in the case of no contradiction, the various specific technical features described in the above specific embodiments can be combined in any appropriate manner. To avoid unnecessary repetition, the present disclosure will not separately describe various possible combination methods.

[0205] In addition, any combination can be made between various different embodiments of the present disclosure, as long as it does not violate the idea of the present disclosure, it should also be regarded as the content disclosed by the present disclosure.

Claims

1. A method for distributing torque between front and rear axles of a vehicle, characterized in that: include: Get the vehicle's current target driving mode; determining a target correlation between vehicle state data and a torque distribution ratio, wherein the target correlation corresponds to the target driving mode, the vehicle state data including vehicle speed and vehicle pedal opening; determining a first torque distribution ratio according to current vehicle state data and the target association relationship, wherein the first torque distribution ratio is used to distribute torque to a front axle and a rear axle of the vehicle; determining that the vehicle is in a battery heating operating condition or a coasting energy recovery operating condition; The torque distribution priority of the rear axle is increased to obtain a seventh torque distribution ratio, where the seventh torque distribution ratio is used to distribute torque to the front axle and the rear axle of the vehicle.

2. The method according to claim 1, characterized in that Also includes: determining a first correlation between a transmission input shaft speed, a transmission gear position, and a torque distribution influencing parameter, wherein the first correlation corresponds to the target driving mode; Obtaining the current transmission input shaft speed and transmission gear position of the vehicle; determining a first torque distribution influencing parameter according to the current transmission input shaft speed, the transmission gear position, and the first association relationship; The first torque distribution ratio is adjusted based on the first torque distribution influencing parameter to obtain a second torque distribution ratio, where the second torque distribution ratio is used to distribute torque to the front axle and the rear axle of the vehicle.

3. The method according to claim 1, characterized in that Also includes: determining a second association relationship between engine state data and a torque distribution influencing parameter, the second association relationship corresponding to the target driving mode; Obtaining current engine status data of the vehicle; determining a second torque distribution influencing parameter according to current engine state data and the second association relationship; The first torque distribution ratio is adjusted based on the second torque distribution influencing parameter to obtain a third torque distribution ratio, where the third torque distribution ratio is used to distribute torque to the front axle and the rear axle of the vehicle.

4. The method according to claim 3, characterized in that Also includes: determining a first correlation between a transmission input shaft speed, a transmission gear position, and a torque distribution influencing parameter, wherein the first correlation corresponds to the target driving mode; Obtaining the current transmission input shaft speed and transmission gear position of the vehicle; determining a first torque distribution influencing parameter according to the current transmission input shaft speed, the transmission gear position, and the first association relationship; The third torque distribution ratio is adjusted based on the first torque distribution influencing parameter to obtain a fourth torque distribution ratio, where the fourth torque distribution ratio is used to distribute torque to the front axle and the rear axle of the vehicle.

5. The method according to claim 4, characterized in that Also includes: determining a third correlation between vehicle speed, a slope of a road on which the vehicle is located, and a torque distribution ratio, wherein the third correlation corresponds to the target driving mode; determining a first candidate torque distribution ratio according to the current vehicle speed, the slope, and the third association relationship; Wherein, when the first torque distribution ratio is the front axle torque distribution ratio, if the slope is greater than a first slope threshold, the smaller of the first candidate torque distribution ratio and the fourth torque distribution ratio is used as the fifth torque distribution ratio; If the slope is less than the second slope threshold, the larger of the first candidate torque distribution ratio and the fourth torque distribution ratio is used as the fifth torque distribution ratio, and the fifth torque distribution ratio is used to distribute torque to the front axle of the vehicle, and the second slope threshold is less than the first slope threshold.

6. The method according to claim 5, characterized in that The method further comprises: determining a fourth correlation between vehicle speed, steering wheel speed, and torque distribution ratio, wherein the fourth correlation corresponds to the target driving mode; determining a second candidate torque distribution ratio according to the current vehicle speed, the steering wheel speed, and the fourth association relationship; determining a fifth correlation between a steering wheel angle and a torque distribution influencing parameter, wherein the fifth correlation corresponds to the target driving mode; Get the current steering wheel angle of the vehicle; determining a third torque distribution influencing parameter according to the current steering wheel angle and the fifth association relationship; calculating a product of the fifth torque distribution ratio and the third torque distribution influencing parameter; A sum of the product and the second candidate torque distribution ratio is calculated to obtain a sixth torque distribution ratio, where the sixth torque distribution ratio is used to distribute torque to the front axle and the rear axle of the vehicle.

7. The method according to claim 1, characterized in that Also includes: determining a plurality of time steps when a difference between the seventh torque distribution ratio at the current moment and the target torque distribution ratio at a moment before the current moment is greater than a preset threshold; determining a change in the torque distribution ratio corresponding to each time step based on the difference and the multiple time steps; The target torque distribution ratio is adjusted based on each of the changes, so that the torque distribution ratio of the vehicle after the multiple time steps is the seventh torque distribution ratio.

8. A vehicle front and rear axle torque distribution device, characterized in that: include: A first acquisition module is used to obtain the current target driving mode of the vehicle; a first determining module, configured to determine a target association relationship between vehicle state data and a torque distribution ratio, wherein the target association relationship corresponds to the target driving mode, the vehicle state data including vehicle speed and vehicle pedal opening; a first torque distribution ratio determination module, configured to determine a first torque distribution ratio according to current vehicle state data and the target association relationship, wherein the first torque distribution ratio is used to distribute torque to the front axle and the rear axle of the vehicle; a seventh determining module, configured to determine whether the vehicle is in a battery heating operating condition or a coasting energy recovery operating condition; The torque distribution priority adjustment module increases the torque distribution priority of the rear axle to obtain a seventh torque distribution ratio, where the seventh torque distribution ratio is used to distribute torque to the front axle and the rear axle of the vehicle.

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

10. A controller, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the steps of the method according to any one of claims 1 to 7.

11. A vehicle, characterized in that: Including the controller according to claim 10.

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