Vehicle torque distribution method, device and vehicle

Abstract

The present application discloses a torque distribution method, device and vehicle for a vehicle. The method comprises: obtaining an operation mode selected by a target object and an operation parameter of the vehicle, wherein the operation mode is one of the following: an economy mode, a sport mode and a comfort mode; performing torque distribution on the front motor of the vehicle, the left rear motor of the vehicle and the right rear motor of the vehicle according to the operation mode and / or the operation parameter to obtain the initial torque of the front motor, the left rear motor and the right rear motor; and correcting the initial torque to obtain the target torque of the front motor, the left rear motor and the right rear motor. Through the present application, the problem that the working conditions of the vehicle and the driving requirements of the user are not taken into consideration when distributing torque to the motor in the related art, resulting in unreasonable torque distribution, is solved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular, to a vehicle torque distribution method, device and vehicle. Background Art

[0002] At present, four-wheel drive electric vehicles generally use centralized electric four-wheel drive systems. Electric four-wheel drive power systems mainly use the following two structures: the first is a centralized four-wheel drive system in which both the front and rear motors use permanent magnet motors. Compared with two-wheel drive electric vehicles, this structure can effectively improve the power performance and handling stability of the whole vehicle, but compared with two-wheel drive electric vehicles, the economic performance of the whole vehicle is significantly reduced. The second is a centralized four-wheel drive system in which the front motor uses an induction motor and the rear motor uses a permanent magnet motor. The above two centralized electric four-wheel drive systems always use the four-wheel drive mode when distributing torque to the motors, and do not take into account the current vehicle working conditions and the needs of the driver, resulting in the problem of unreasonable torque distribution to the motors.

[0003] Currently, no effective solution has been proposed for the problem that the working conditions of the vehicle and the driving requirements of the user are not taken into consideration when distributing torque to the motor in the related art, resulting in unreasonable torque distribution. Summary of the invention

[0004] The main purpose of the present application is to provide a vehicle torque distribution method, device and vehicle, so as to solve the problem in the related art that the working conditions of the vehicle and the driving requirements of the user are not taken into consideration when distributing the torque of the motor, resulting in unreasonable torque distribution.

[0005] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a torque distribution method for a vehicle is provided. The method comprises: the vehicle comprises a front motor, a left rear motor and a right rear motor, and comprises: obtaining an operation mode selected by a target object and an operation parameter of the vehicle, wherein the operation mode is one of the following: an economic mode, a sports mode and a comfort mode; according to the operation mode and / or the operation parameter, performing torque distribution on the front motor of the vehicle, the left rear motor of the vehicle and the right rear motor of the vehicle to obtain the initial torque of the front motor, the left rear motor and the right rear motor; and correcting the initial torque to obtain the target torque of the front motor, the left rear motor and the right rear motor.

[0006] Furthermore, the vehicle further comprises a disconnecting device, which distributes torque to the front motor, the left rear motor and the right rear motor of the vehicle according to the operating mode and / or the operating parameters, and obtains the initial torques of the front motor, the left rear motor and the right rear motor, including: when the operating mode is the economic mode, the front motor is disconnected by the disconnecting device, and the torque is distributed based on the two-wheel drive mode to obtain the initial torques of the front motor, the left rear motor and the right rear motor; when the operating mode is the sports mode, the torque is distributed based on the operating parameters and the load of the vehicle. Torque is distributed among the front motor, the left rear motor and the right rear motor to obtain initial torques of the front motor, the left rear motor and the right rear motor; when the operation mode is the comfort mode, torque is distributed among the front motor, the left rear motor and the right rear motor based on the operating parameters and the load of the vehicle to obtain initial torques of the front motor, the left rear motor and the right rear motor; or, torque is distributed among the front motor, the left rear motor and the right rear motor based on the total output power of the vehicle to obtain initial torques of the front motor, the left rear motor and the right rear motor.

[0007] Furthermore, based on the operating parameters and the load of the vehicle, the torque of the front motor, the left rear motor and the right rear motor is distributed to obtain the initial torque of the front motor, the left rear motor and the right rear motor, including: calculating according to the wheel speed in the operating parameters, the actual yaw angular velocity in the operating parameters and the steering wheel angle in the operating parameters to obtain the vehicle speed; calculating according to the vehicle speed, the accelerator pedal opening in the operating parameters and the control pedal opening in the operating parameters to obtain the required torque and acceleration; if the vehicle starts anti-skid control, the acceleration is used as the target road adhesion coefficient; if the vehicle does not start anti-skid control, the acceleration is calculated as the ratio between the acceleration and the preset road adhesion coefficient as the target road adhesion coefficient; according to the vehicle speed, the acceleration, the mass of the vehicle, the slope angle in the operating parameters, the height of the center of mass of the vehicle, the distance from the front axle to the center of mass of the vehicle, and the distance from the rear axle to the center of mass of the vehicle, a front axle vertical load and a rear axle vertical load are calculated; according to the front axle vertical load, the rear axle vertical load and the target road adhesion coefficient, a front axle longitudinal load and a rear axle longitudinal load are calculated; according to the front axle longitudinal load and the rear axle longitudinal load, an inter-axle torque distribution coefficient is calculated; according to the inter-axle torque distribution coefficient and the required torque, torque is distributed to the front motor, the left rear motor and the right rear motor.

[0008] Furthermore, when the operating mode is the comfort mode, the method further includes: calculating according to the target road adhesion coefficient, the acceleration, the vehicle speed and the steering wheel angle to obtain a driving stability factor; calculating according to the required torque and the maximum torque of the motor of the vehicle in the operating parameters to obtain a reserve torque; when a first preset condition is met, distributing torque to the front motor, the left rear motor and the right rear motor based on the operating parameters and the load of the vehicle to obtain an initial torque of the front motor, the left rear motor and the right rear motor, wherein the first preset condition includes at least: the throttle The pedal opening is greater than a first preset opening, or the accelerator pedal opening is greater than a second preset opening and less than the second preset opening, and the rate of change of the accelerator pedal opening is greater than a first preset value, or the driving stability factor is greater than a second preset value, or the target road adhesion coefficient is less than a third preset value, or the slope angle is greater than a fourth preset value, or the backup torque is less than a preset torque; when the first preset condition is not met, torque is distributed to the front motor, the left rear motor and the right rear motor based on the total output power of the vehicle to obtain initial torques of the front motor, the left rear motor and the right rear motor.

[0009] Furthermore, distributing torque to the front motor, the left rear motor and the right rear motor based on the total output power of the vehicle to obtain the initial torques of the front motor, the left rear motor and the right rear motor includes: calculating the working efficiency of the motor of the vehicle and the rotational speed of the motor of the vehicle according to the required torque to obtain the total output power of the vehicle; determining the inter-axle torque distribution coefficient according to the total output power; distributing torque to the front motor, the left rear motor and the right rear motor according to the inter-axle torque distribution coefficient and the required torque to obtain the initial torques of the front motor, the left rear motor and the right rear motor.

[0010] Furthermore, the initial torque is corrected to obtain the target torques of the front motor, the left rear motor and the right rear motor, including: when it is detected that the vehicle is slipping or drifting, the initial torque is corrected according to a first strategy to obtain the target torque; or the initial torque is corrected according to a second strategy to obtain the target torque.

[0011] Furthermore, the initial torque is corrected according to the first strategy to obtain the target torque, which includes: calculating according to the vehicle speed and the steering wheel angle to obtain a target yaw rate; and correcting the initial torque according to a difference between the target yaw rate and the actual yaw rate to obtain the target torque.

[0012] Further, the initial torque is corrected according to the second strategy to obtain the target torque, which includes: determining a slip ratio of the vehicle according to the vehicle speed; and correcting the initial torque according to the slip ratio and the acceleration to obtain the target torque.

[0013] In order to achieve the above-mentioned purpose, according to another aspect of the present application, a vehicle is provided, wherein a controller of the vehicle executes the above-mentioned torque distribution method of the vehicle.

[0014] In order to achieve the above-mentioned purpose, according to another aspect of the present application, a torque distribution device for a vehicle is provided. The device comprises: an acquisition unit, used to acquire the operation mode selected by the target object and the operation parameters of the vehicle, wherein the operation mode is one of the following: economic mode, sports mode and comfort mode; a distribution unit, used to distribute torque to the front motor, the left rear motor and the right rear motor of the vehicle according to the operation mode and / or the operation parameters, and obtain the initial torque of the front motor, the left rear motor and the right rear motor; a correction unit, used to correct the initial torque and obtain the target torque of the front motor, the left rear motor and the right rear motor.

[0015] Further, the vehicle also includes a disconnect device, and the distribution unit includes: a first processing module, which is used to disconnect the front motor through the disconnect device when the operating mode is the economy mode, and perform torque distribution based on the two-wheel drive mode to obtain the initial torque of the front motor, the left rear motor and the right rear motor; a second processing module, which is used to distribute the torque to the front motor, the left rear motor and the right rear motor based on the operating parameters and the load of the vehicle when the operating mode is the sport mode, and obtain the initial torque of the front motor, the left rear motor and the right rear motor; a third processing module, which is used to distribute the torque to the front motor, the left rear motor and the right rear motor based on the operating parameters and the load of the vehicle when the operating mode is the comfort mode, and obtain the initial torque of the front motor, the left rear motor and the right rear motor; or, distribute the torque to the front motor, the left rear motor and the right rear motor based on the total output power of the vehicle to obtain the initial torque of the front motor, the left rear motor and the right rear motor.

[0016] Furthermore, the second processing module includes: a first calculation submodule, used to calculate according to the wheel speed in the operating parameters, the actual yaw angular velocity in the operating parameters and the steering wheel angle in the operating parameters to obtain the vehicle speed; a second calculation submodule, used to calculate according to the vehicle speed, the accelerator pedal opening in the operating parameters and the control pedal opening in the operating parameters to obtain the required torque and acceleration; a first determination submodule, used to use the acceleration as the target road adhesion coefficient if the vehicle starts anti-skid control; a second determination submodule, used to use the maximum value between the acceleration and the preset road adhesion coefficient as the target road adhesion coefficient if the vehicle does not start anti-skid control; a third calculation submodule, used to calculate according to The vehicle speed, the acceleration, the mass of the vehicle, the slope angle in the operating parameters, the height of the center of mass of the vehicle, the distance from the front axle to the center of mass of the vehicle, and the distance from the rear axle to the center of mass of the vehicle are calculated to obtain the front axle vertical load and the rear axle vertical load; a fourth calculation submodule is used to calculate based on the front axle vertical load, the rear axle vertical load and the target road adhesion coefficient to obtain the front axle longitudinal load and the rear axle longitudinal load; a fifth calculation submodule is used to calculate based on the front axle longitudinal load and the rear axle longitudinal load to obtain the inter-axle torque distribution coefficient; a distribution submodule is used to distribute torque to the front motor, the left rear motor and the right rear motor based on the inter-axle torque distribution coefficient and the required torque.

[0017] Furthermore, the device also includes: a first calculation unit, which is used to calculate according to the target road adhesion coefficient, the acceleration, the vehicle speed and the steering wheel angle when the operation mode is the comfort mode to obtain a driving stability factor; a second calculation unit, which is used to calculate according to the required torque and the maximum torque of the motor of the vehicle in the operating parameters to obtain a reserve torque; a first processing unit, which is used to distribute the torque to the front motor, the left rear motor and the right rear motor based on the operating parameters and the load of the vehicle when a first preset condition is met to obtain an initial torque of the front motor, the left rear motor and the right rear motor, wherein the first preset condition At least including: the accelerator pedal opening is greater than a first preset opening, or the accelerator pedal opening is greater than a second preset opening and less than the second preset opening, and the rate of change of the accelerator pedal opening is greater than a first preset value, or the driving stability factor is greater than a second preset value, or the target road adhesion coefficient is less than a third preset value, or the slope angle is greater than a fourth preset value, or the backup torque is less than a preset torque; a second processing unit is used to distribute torque to the front motor, the left rear motor and the right rear motor based on the total output power of the vehicle when the first preset condition is not met, so as to obtain the initial torque of the front motor, the left rear motor and the right rear motor.

[0018] Furthermore, the second processing unit includes: a calculation module, used to calculate according to the required torque, the working efficiency of the vehicle's motor and the speed of the vehicle's motor to obtain the total output power of the vehicle; a determination module, used to determine the inter-axle torque distribution coefficient according to the total output power; and a distribution module, used to distribute torque to the front motor, the left rear motor and the right rear motor according to the inter-axle torque distribution coefficient and the required torque to obtain the initial torque of the front motor, the left rear motor and the right rear motor.

[0019] Furthermore, the correction unit includes: a first correction module, used to correct the initial torque according to a first strategy to obtain the target torque when it is detected that the vehicle is slipping or drifting; or a second correction module, used to correct the initial torque according to a second strategy to obtain the target torque.

[0020] Furthermore, the first correction module includes: a sixth calculation submodule, used to calculate according to the vehicle speed and the steering wheel angle to obtain a target yaw rate; a first correction submodule, used to correct the initial torque according to a difference between the target yaw rate and the actual yaw rate to obtain the target torque.

[0021] Furthermore, the second correction module includes: a determination submodule, used to determine the slip rate of the vehicle according to the vehicle speed; and a second correction submodule, used to correct the initial torque according to the slip rate and the acceleration to obtain the target torque.

[0022] Through this application, the following steps are adopted: obtaining the operation mode selected by the target object and the operating parameters of the vehicle, wherein the operation mode is one of the following: economic mode, sports mode and comfort mode; according to the operation mode and\or the operating parameters, the front motor of the vehicle, the left rear motor of the vehicle and the right rear motor of the vehicle are torque distributed to obtain the initial torque of the front motor, the left rear motor and the right rear motor; the initial torque is corrected to obtain the target torque of the front motor, the left rear motor and the right rear motor, which solves the problem that the working condition of the vehicle and the driving needs of the user are not considered when distributing torque to the motor in the related art, resulting in unreasonable torque distribution. The torque of the motor of the vehicle is distributed through the operation mode selected by the target object and the operating parameters of the vehicle to obtain the initial torque, and the initial torque is corrected to obtain the target torque, which fully considers the working condition of the vehicle and the driving needs of the user, thereby achieving the effect of improving the rationality of torque distribution. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0024] Figure 1 is a flow chart of a torque distribution method for a vehicle provided in an embodiment of the present application;

[0025] Figure 2 is a schematic diagram of a power system of a vehicle provided according to an embodiment of the present application;

[0026] Figure 3 It is a schematic diagram of a torque distribution device for a vehicle provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0027] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0028] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] The present invention is described below in conjunction with preferred implementation steps. Figure 1 is a flow chart of a torque distribution method for a vehicle provided in an embodiment of the present application, such as Figure 1 As shown, the method comprises the following steps:

[0031] Step S101, obtaining the operation mode selected by the target object and the operating parameters of the vehicle, wherein the operation mode is one of the following: economic mode, sports mode and comfort mode.

[0032] Specifically, the vehicle torque distribution method provided by the embodiment of the present invention is applied to a vehicle with a three-motor four-wheel drive system. Figure 2 The figure shows a schematic diagram of the power system of the vehicle. The driver (ie, the target object mentioned above) can select the operation mode of the vehicle according to actual needs, which mainly includes the following operation modes: economy mode, sports mode, and comfort mode.

[0033] Then, the operating parameters of the vehicle are obtained, and the operating parameters of the vehicle include but are not limited to: the opening of the accelerator pedal, the opening of the brake pedal, the steering wheel angle, the yaw rate, the wheel speed, the road slope angle and other parameters.

[0034] Step S102, according to the operation mode and / or operating parameters, torque is distributed to the front motor of the vehicle, the left rear motor of the vehicle and the right rear motor of the vehicle to obtain initial torques of the front motor, the left rear motor and the right rear motor.

[0035] Specifically, according to the operating parameters selected by the driver and\or the operating parameters of the above-mentioned vehicle, torque is distributed to the front motor of the vehicle, the left rear motor of the vehicle and the right rear motor of the vehicle to obtain the initial torque of the front motor, the left rear motor and the right rear motor.

[0036] Step S103, correcting the initial torque to obtain target torques of the front motor, the left rear motor and the right rear motor.

[0037] Specifically, after obtaining the initial torque of the motor, the torque will be corrected according to the actual situation to prevent the vehicle from slipping or skidding, thereby improving the safety and stability of the vehicle.

[0038] In summary, the torque of the vehicle's motor is distributed through the operating mode selected by the target object and the operating parameters of the vehicle to obtain the initial torque, and the initial torque is corrected to obtain the target torque, which fully considers the vehicle's operating conditions and the user's driving needs, and improves the rationality of the torque distribution as well as the safety and stability of the vehicle.

[0039] In order to reasonably distribute the torque of the motor, in the torque distribution method of the vehicle provided in the embodiment of the present application, the following method is used to determine the distribution method of the motor torque: the vehicle also includes a disconnecting device, and when the operating mode is the economic mode, the front motor is disconnected by the disconnecting device, and the torque is distributed based on the two-wheel drive mode to obtain the initial torque of the front motor, the left rear motor and the right rear motor; when the operating mode is the sports mode, the torque of the front motor, the left rear motor and the right rear motor is distributed based on the operating parameters and the load of the vehicle to obtain the initial torque of the front motor, the left rear motor and the right rear motor; when the operating mode is the comfort mode, the torque of the front motor, the left rear motor and the right rear motor is distributed based on the operating parameters and the load of the vehicle to obtain the initial torque of the front motor, the left rear motor and the right rear motor; or, the torque of the front motor, the left rear motor and the right rear motor is distributed based on the total output power of the vehicle to obtain the initial torque of the front motor, the left rear motor and the right rear motor.

[0040] Specifically, when the driver selects the economic mode, the front motor is disconnected by the vehicle's disconnecting device, and torque distribution is performed based on the two-wheel drive model to obtain the initial torque of the front motor, the left rear motor and the right rear motor, that is, only the left rear motor and the right rear motor are used for driving, thereby improving the vehicle's driving range. When the driver selects the sports mode, the front motor, the left rear motor and the right rear motor are used for driving together through the disconnecting device. In the sports mode, the front motor, the left rear motor and the right rear motor are torque-distributed based on the vehicle's load and the vehicle's operating parameters to obtain the initial torque. The torque distribution is performed based on the vehicle's load, which can effectively improve the vehicle's power. When the driver selects the comfort mode, the front motor, the left rear motor and the right rear motor are torque-distributed based on the operating parameters and the vehicle's load to obtain the initial torque of the front motor, the left rear motor and the right rear motor, or the front motor, the left rear motor and the right rear motor are torque-distributed based on the vehicle's total output power to obtain the initial torque of the front motor, the left rear motor and the right rear motor. Which of the above methods is specifically adopted will be reasonably judged and selected based on the vehicle's operating parameters.

[0041] Through the above-mentioned method, the torque is flexibly selected according to the operation mode and the operating parameters of the vehicle, so that the vehicle's dynamics, handling stability and economy are taken into account, thereby improving the rationality of torque distribution.

[0042] How to distribute the torque to the front motor, left rear motor and right rear motor based on the operating parameters and the vehicle load to obtain the initial torque of the front motor, left rear motor and right rear motor is crucial. Therefore, in the torque distribution method for the vehicle provided in the embodiment of the present application, the following method is adopted to achieve torque distribution: the vehicle speed is calculated based on the wheel speed in the operating parameters, the actual yaw angular velocity in the operating parameters and the steering wheel angle in the operating parameters; the required torque and acceleration are calculated based on the vehicle speed, the accelerator pedal opening in the operating parameters and the system pedal opening in the operating parameters; if the vehicle starts anti-skid control, the acceleration is used as the target road adhesion coefficient; if the vehicle does not start anti-skid control control, the maximum value between the acceleration and the preset road adhesion coefficient is used as the target road adhesion coefficient; the front axle vertical load and the rear axle vertical load are calculated based on the vehicle speed, acceleration, vehicle mass, the slope angle in the operating parameters, the height of the vehicle's center of mass, the distance from the front axle to the center of mass of the vehicle, and the distance from the rear axle to the center of mass of the vehicle to obtain the front axle vertical load and the rear axle longitudinal load; the front axle longitudinal load and the rear axle longitudinal load are calculated based on the front axle longitudinal load and the rear axle longitudinal load and the target road adhesion coefficient; the inter-axle torque distribution coefficient is calculated based on the front axle longitudinal load and the rear axle longitudinal load; the torque is distributed to the front motor, the left rear motor and the right rear motor based on the inter-axle torque distribution coefficient and the required torque.

[0043] Specifically, the vehicle speed is calculated based on the wheel speed, yaw rate and steering wheel angle; the driver's required torque and acceleration are calculated based on the accelerator pedal opening, brake pedal opening and vehicle speed; and the anti-skid control is detected. If the anti-skid control is activated, the vehicle acceleration is used as the road adhesion coefficient (μ), that is, μ=a act ; If the vehicle does not start anti-skid control, the maximum value of the acceleration and the preset road adhesion coefficient is used as the current road adhesion coefficient (i.e., the above-mentioned target road adhesion coefficient); the front axle vertical load and the rear axle vertical load are calculated according to the vehicle speed, acceleration, vehicle mass, slope angle in the operating parameters, the height of the vehicle's center of mass, the distance from the front axle to the center of mass of the vehicle, and the distance from the rear axle to the center of mass of the vehicle; in order to improve the longitudinal driving stability of the vehicle, the road adhesion coefficients used by the front and rear axles should be as equal as possible to reduce the total road adhesion coefficient used by the driving wheels. By reducing the total road adhesion coefficient, the driving wheels can effectively avoid slipping, so the target road adhesion coefficient, the front axle vertical load and the rear axle vertical load are used to calculate the front axle longitudinal load and the rear axle longitudinal load; then the inter-axle torque distribution coefficient is calculated according to the front axle longitudinal load and the rear axle longitudinal load. The torque is distributed to the front motor, the left rear motor, and the right rear motor according to the inter-axle torque distribution coefficient and the required torque.

[0044] In an optional embodiment, a dynamic analysis is performed on the front and rear vertical loads of the vehicle, taking into account the vehicle acceleration resistance and slope resistance, and ignoring factors such as air resistance, tire rolling resistance moment, and rotational inertia. The calculation of the vertical loads on the front and rear axles can be simplified to: Among them, F zf , F zr —Vertical load on the front and rear axles, m—vehicle mass, g—gravitational acceleration, h g —Height of the center of mass, a x —acceleration, θ—slope angle, a—distance from the front axle to the center of mass, b—distance from the rear axle to the center of mass, L=a+b—wheelbase.

[0045] The front axle longitudinal load and the rear axle longitudinal load are obtained using the following formula: Among them, μ r , μ f F are the front axle road adhesion coefficient and the rear axle road adhesion coefficient respectively. xf , F xr —Longitudinal loads on the front and rear axles; torque distribution coefficient between axles is: Combining the above formulas, the inter-axle torque distribution coefficient can be expressed as: In the actual operation of the vehicle, the slope angle is generally small, so we can directly set tanθ=i, cosθ=1, and the corresponding inter-axle torque distribution coefficient is simplified to: According to the above formula, only the slope i and acceleration a are needed x The inter-axle torque distribution coefficient can be obtained, and then the torque of the motor can be distributed according to the inter-axle torque distribution coefficient.

[0046] Through the above method, the torque is distributed based on the vehicle load to fully utilize the road adhesion coefficient and improve the vehicle's dynamics.

[0047] The method for determining how to distribute the torque of the motor when the operation mode is the comfort mode is as follows: calculating according to the target road adhesion coefficient, acceleration, vehicle speed and steering wheel angle to obtain a driving stability factor; calculating according to the required torque and the maximum torque of the motor of the vehicle in the operating parameters to obtain a reserve torque; when the first preset condition is met, the torque of the front motor, the left rear motor and the right rear motor is distributed based on the operating parameters and the load of the vehicle to obtain the initial torque of the front motor, the left rear motor and the right rear motor, wherein the first preset condition at least includes: the accelerator pedal opening is greater than the first preset opening, or the accelerator pedal opening is greater than the second preset opening and less than the second preset opening, and the rate of change of the accelerator pedal opening is greater than the first preset value, or the driving stability factor is greater than the second preset value, or the target road adhesion coefficient is less than the third preset value, or the slope angle is greater than the fourth preset value, or the reserve torque is less than the preset torque; when the first preset condition is not met, the torque of the front motor, the left rear motor and the right rear motor is distributed based on the total output power of the vehicle to obtain the initial torque of the front motor, the left rear motor and the right rear motor.

[0048] Specifically, the accelerator pedal opening, reserve torque, driving stability factor, slope angle and target road adhesion coefficient determine whether to distribute torque to the front motor, left rear motor and right rear motor based on operating parameters and vehicle load, or to switch control the torque distribution to the front motor, left rear motor and right rear motor based on the total output power of the vehicle.

[0049] First, the driving stability factor is calculated according to the target road adhesion coefficient, acceleration, vehicle speed and steering wheel angle; the reserve torque is calculated according to the required torque and the maximum torque of the motor of the vehicle in the operating parameters. When the accelerator pedal opening is greater than the first preset opening (for example, 50%), or when the accelerator pedal opening is greater than the second preset opening (for example, 30%) and less than the first preset opening, and the rate of change of the accelerator pedal opening is greater than the first preset value, or the driving stability factor is greater than the second preset value (for example, 0.4), or the road adhesion coefficient is less than the third preset value (for example, 0.5), or the slope angle is greater than the fourth preset value (for example, 5°), or the reserve torque is less than the preset torque (for example, 100N), the front motor, the left rear motor and the right rear motor are torque-distributed based on the operating parameters and the load of the vehicle to obtain the initial torque of the front motor, the left rear motor and the right rear motor. When the above conditions are not met, the torque distribution of the front motor, the left rear motor and the right rear motor is switched based on the total output power of the vehicle.

[0050] Through the above steps, the torque of the front motor and the rear motor is flexibly distributed according to the operating parameters of the vehicle, thereby improving the rationality of the torque distribution and the economy of the vehicle.

[0051] How to distribute the torque to the front motor, left rear motor and right rear motor based on the total output power of the vehicle to obtain the initial torque of the front motor, left rear motor and right rear motor is also crucial. In the torque distribution method for the vehicle provided in the embodiment of the present application, the following steps are adopted for processing: based on the required torque, the working efficiency of the vehicle's motor and the speed of the vehicle's motor are calculated to obtain the total output power of the vehicle; based on the total output power, the inter-axle torque distribution coefficient is determined; based on the inter-axle torque distribution coefficient and the required torque, the front motor, left rear motor and right rear motor are distributed with torque to obtain the initial torque of the front motor, left rear motor and right rear motor.

[0052] In an optional embodiment, the output power of the vehicle is calculated as follows:

[0053] T r =λ·T a

[0054] T f =(1-λ)·T a

[0055]

[0056]

[0057] P all =P f +P r

[0058] Where: T a represents the driver demand torque, T f Represents the front axle output torque, T r represents the rear axle output torque, λ represents the torque distribution coefficient between axes, n represents the motor speed, η f , η r Respectively represent the working efficiency of the front and rear axle motors, P f , P r Represents the output power of the front and rear axle motors, P all Represents the total output power of the front and rear axle motors. Based on the above formula, the optimal control equation for system efficiency is as follows: That is, the torque distribution coefficient between the axles is calculated while ensuring the minimum total output power. At the same time, the torque distribution between the front and rear axles needs to be limited by the available capacity of the assembly:

[0059] λ·T a ≤T max r

[0060] (1-λ)·T a ≤T max f

[0061] Where: Tmax r Represents the total available torque of the rear axle motor, T max f Indicates the total available torque of the front axle motor.

[0062] According to the vehicle's required torque and speed, combined with the system efficiency optimal control equation, the most efficient torque distribution table can be calculated offline to minimize the current driving power loss of the vehicle.

[0063] In summary, the torque of each motor is distributed in a way that optimizes the economic efficiency of the vehicle. While ensuring that the required torque is met, the workload of the front and rear axle motors is adjusted so that the working points of the front and rear axle motors fall as far as possible in the efficient working area of ​​the motors, which can effectively improve the working efficiency of the motors and the economy of the vehicle.

[0064] In order to improve the stability of the vehicle, the initial torque is corrected to obtain the target torque of the front motor, the left rear motor and the right rear motor. When the vehicle is detected to be slipping or drifting, the initial torque is corrected according to the first strategy to obtain the target torque; or the initial torque is corrected according to the second strategy to obtain the target torque. Correcting the initial torque according to the first strategy to obtain the target torque includes: calculating according to the vehicle speed and the steering wheel angle to obtain the target yaw rate; correcting the initial torque according to the difference between the target yaw rate and the actual yaw rate to obtain the target torque. Correcting the initial torque according to the second strategy to obtain the target torque includes: determining the slip rate of the vehicle according to the vehicle speed; correcting the initial torque according to the slip rate and acceleration to obtain the target torque.

[0065] Specifically, when the vehicle slips or skids, the initial torque of each motor is corrected according to the yaw control strategy (i.e., the first strategy mentioned above), specifically including: obtaining the target yaw angular velocity according to the speed and steering wheel angle of the electric vehicle, and correcting the initial torque of the vehicle's motor according to the deviation between the target yaw angular velocity and the actual yaw angular velocity to obtain the target torque.

[0066] Alternatively, the initial torque of each motor is corrected according to the active anti-skid strategy (i.e., the second strategy mentioned above), specifically including: obtaining the vehicle speed according to the vehicle's wheel speed, steering wheel angle and yaw angular velocity; obtaining the vehicle's slip rate using the vehicle speed; and correcting the initial torque of the vehicle's motor according to the vehicle's acceleration and slip rate to obtain the target torque.

[0067] Through the above steps, through the above-mentioned stability control strategy and active anti-skid strategy, the output torque of the front motor and the rear motor is constrained to prevent the vehicle from slipping or drifting, thereby achieving the effect of improving the safety and stability of the vehicle.

[0068] The torque distribution method of the vehicle provided in the embodiment of the present application obtains the operation mode selected by the target object and the operating parameters of the vehicle, wherein the operation mode is one of the following: economic mode, sports mode and comfort mode; according to the operation mode and / or the operating parameters, the front motor of the vehicle, the left rear motor of the vehicle and the right rear motor of the vehicle are torque distributed to obtain the initial torque of the front motor, the left rear motor and the right rear motor; the initial torque is corrected to obtain the target torque of the front motor, the left rear motor and the right rear motor, which solves the problem that the working conditions of the vehicle and the driving needs of the user are not considered when distributing torque to the motor in the related art, resulting in unreasonable torque distribution. The torque distribution of the motor of the vehicle is performed through the operation mode selected by the target object and the operating parameters of the vehicle to obtain the initial torque, and the initial torque is corrected to obtain the target torque, which fully considers the working conditions of the vehicle and the driving needs of the user, thereby achieving the effect of improving the rationality of torque distribution.

[0069] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0070] An embodiment of the present application also provides a vehicle, which includes a front motor, a left rear motor, a right rear motor and a disconnect device, and a controller of the vehicle executes the torque distribution method of the vehicle.

[0071] Specifically, the controller of the above-mentioned vehicle performs the following steps: obtaining the operating mode selected by the target object and the operating parameters of the vehicle, wherein the operating mode is one of the following: economy mode, sports mode and comfort mode; according to the operating mode and / or operating parameters, distributing torque to the front motor of the vehicle, the left rear motor of the vehicle and the right rear motor of the vehicle to obtain the initial torque of the front motor, the left rear motor and the right rear motor; correcting the initial torque to obtain the target torque of the front motor, the left rear motor and the right rear motor.

[0072] In summary, the torque of the vehicle's motor is distributed through the operating mode selected by the target object and the operating parameters of the vehicle to obtain the initial torque, and the initial torque is corrected to obtain the target torque, which fully considers the vehicle's operating conditions and the user's driving needs and improves the rationality of the torque distribution.

[0073] The embodiment of the present application also provides a vehicle torque distribution device. It should be noted that the vehicle torque distribution device of the embodiment of the present application can be used to execute the vehicle torque distribution method provided in the embodiment of the present application. The vehicle torque distribution device provided in the embodiment of the present application is introduced below.

[0074] Figure 3 Schematic diagram of a torque distribution device for a vehicle according to an embodiment of the present application. Figure 3 As shown, the device includes: an acquisition unit 301, an allocation unit 302 and a correction unit 303.

[0075] The acquisition unit 301 is used to acquire the operation mode selected by the target object and the operating parameters of the vehicle, wherein the operation mode is one of the following: economic mode, sports mode and comfort mode.

[0076] The distribution unit 302 is used to distribute torque to the front motor, the left rear motor and the right rear motor of the vehicle according to the operation mode and / or operation parameters to obtain the initial torque of the front motor, the left rear motor and the right rear motor.

[0077] The correction unit 303 is used to correct the initial torque to obtain the target torque of the front motor, the left rear motor and the right rear motor.

[0078] The torque distribution device of the vehicle provided in the embodiment of the present application obtains the operation mode selected by the target object and the operating parameters of the vehicle through the acquisition unit 301, wherein the operation mode is one of the following: economic mode, sports mode and comfort mode; the distribution unit 302 distributes torque to the front motor of the vehicle, the left rear motor of the vehicle and the right rear motor of the vehicle according to the operation mode and / or the operation parameters, and obtains the initial torque of the front motor, the left rear motor and the right rear motor; the correction unit 303 corrects the initial torque to obtain the target torque of the front motor, the left rear motor and the right rear motor, which solves the problem that the working condition of the vehicle and the driving needs of the user are not considered when distributing torque to the motor in the related art, resulting in unreasonable torque distribution. The torque distribution of the motor of the vehicle is performed through the operation mode selected by the target object and the operating parameters of the vehicle to obtain the initial torque, and the initial torque is corrected to obtain the target torque, which fully considers the working condition of the vehicle and the driving needs of the user, thereby achieving the effect of improving the rationality of torque distribution.

[0079] Optionally, in the torque distribution device of the vehicle provided in the embodiment of the present application, the vehicle also includes a disconnection device, and the distribution unit includes: a first processing module, which is used to disconnect the front motor through the disconnection device when the operating mode is the economy mode, and perform torque distribution based on the two-wheel drive mode to obtain the initial torque of the front motor, the left rear motor and the right rear motor; a second processing module, which is used to distribute the torque to the front motor, the left rear motor and the right rear motor based on the operating parameters and the load of the vehicle when the operating mode is the sports mode, and obtain the initial torque of the front motor, the left rear motor and the right rear motor; a third processing module, which is used to distribute the torque to the front motor, the left rear motor and the right rear motor based on the operating parameters and the load of the vehicle when the operating mode is the comfort mode, and obtain the initial torque of the front motor, the left rear motor and the right rear motor; or, distribute the torque to the front motor, the left rear motor and the right rear motor based on the total output power of the vehicle to obtain the initial torque of the front motor, the left rear motor and the right rear motor.

[0080] Optionally, in the torque distribution device of the vehicle provided in the embodiment of the present application, the second processing module includes: a first calculation submodule, used to calculate according to the wheel speed in the operating parameters, the actual yaw angular velocity in the operating parameters and the steering wheel angle in the operating parameters to obtain the vehicle speed; a second calculation submodule, used to calculate according to the vehicle speed, the accelerator pedal opening in the operating parameters and the control pedal opening in the operating parameters to obtain the required torque and acceleration; a first determination submodule, used to use the acceleration as the target road adhesion coefficient if the vehicle starts the anti-skid control; and a second determination submodule, used to use the maximum value between the acceleration and the preset road adhesion coefficient as the target road adhesion coefficient if the vehicle does not start the anti-skid control. coefficient; a third calculation submodule, for calculating the front axle vertical load and the rear axle vertical load according to the vehicle speed, acceleration, vehicle mass, slope angle in the operating parameters, the height of the vehicle's center of mass, the distance from the front axle to the center of mass and the distance from the rear axle to the center of mass of the vehicle; a fourth calculation submodule, for calculating the front axle vertical load, the rear axle vertical load and the target road adhesion coefficient to obtain the front axle longitudinal load and the rear axle longitudinal load; a fifth calculation submodule, for calculating the front axle longitudinal load and the rear axle longitudinal load to obtain the inter-axle torque distribution coefficient; a distribution submodule, for distributing torque to the front motor, the left rear motor and the right rear motor according to the inter-axle torque distribution coefficient and the required torque.

[0081] Optionally, in the torque distribution device of the vehicle provided in the embodiment of the present application, the device also includes: a first calculation unit, which is used to calculate according to the target road adhesion coefficient, acceleration, vehicle speed and steering wheel angle when the operating mode is the comfort mode to obtain a driving stability factor; a second calculation unit, which is used to calculate according to the required torque and the maximum torque of the vehicle's motor in the operating parameters to obtain a reserve torque; a first processing unit, which is used to distribute the torque to the front motor, the left rear motor and the right rear motor based on the operating parameters and the load of the vehicle when the first preset condition is met to obtain the initial torque of the front motor, the left rear motor and the right rear motor, In the method, the first preset condition includes at least: the accelerator pedal opening is greater than the first preset opening, or the accelerator pedal opening is greater than the second preset opening and less than the second preset opening, and the rate of change of the accelerator pedal opening is greater than the first preset value, or the driving stability factor is greater than the second preset value, or the target road adhesion coefficient is less than the third preset value, or the slope angle is greater than the fourth preset value, or the backup torque is less than the preset torque; the second processing unit is used to distribute the torque to the front motor, the left rear motor and the right rear motor based on the total output power of the vehicle when the first preset condition is not met, so as to obtain the initial torque of the front motor, the left rear motor and the right rear motor.

[0082] Optionally, in the torque distribution device of the vehicle provided in the embodiment of the present application, the second processing unit includes: a calculation module, which is used to calculate according to the required torque, the working efficiency of the vehicle's motor and the speed of the vehicle's motor to obtain the total output power of the vehicle; a determination module, which is used to determine the inter-axle torque distribution coefficient according to the total output power; and a distribution module, which is used to distribute the torque to the front motor, the left rear motor and the right rear motor according to the inter-axle torque distribution coefficient and the required torque to obtain the initial torque of the front motor, the left rear motor and the right rear motor.

[0083] Optionally, in the torque distribution device of the vehicle provided in the embodiment of the present application, the correction unit includes: a first correction module, used to correct the initial torque according to a first strategy to obtain a target torque when it is detected that the vehicle is slipping or drifting; or a second correction module, used to correct the initial torque according to a second strategy to obtain a target torque.

[0084] Optionally, in the torque distribution device of the vehicle provided in the embodiment of the present application, the first correction module includes: a sixth calculation submodule, used to calculate according to the vehicle speed and the steering wheel angle to obtain a target yaw angular velocity; a first correction submodule, used to correct the initial torque according to the difference between the target yaw angular velocity and the actual yaw angular velocity to obtain the target torque.

[0085] Optionally, in the torque distribution device of the vehicle provided in the embodiment of the present application, the second correction module includes: a determination submodule, used to determine the slip rate of the vehicle based on the vehicle speed; and a second correction submodule, used to correct the initial torque based on the slip rate and acceleration to obtain the target torque.

[0086] The torque distribution device of the vehicle includes a processor and a memory. The acquisition unit 301, the distribution unit 302 and the correction unit 303 are all stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.

[0087] The processor includes a kernel, which calls the corresponding program unit from the memory. One or more kernels can be set, and the torque distribution of the motor is performed by adjusting the kernel parameters.

[0088] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0089] An embodiment of the present invention provides a computer-readable storage medium having a program stored thereon, and the program, when executed by a processor, implements a torque distribution method for a vehicle.

[0090] An embodiment of the present invention provides a processor, the processor is used to run a program, wherein the program executes a torque distribution method of a vehicle when it is run. When the processor executes the program, the following steps are implemented: obtaining an operation mode selected by a target object and an operation parameter of the vehicle, wherein the operation mode is one of the following: an economic mode, a sports mode, and a comfort mode; according to the operation mode and / or the operation parameter, performing torque distribution on a front motor of the vehicle, a left rear motor of the vehicle, and a right rear motor of the vehicle to obtain an initial torque of the front motor, the left rear motor, and the right rear motor; correcting the initial torque to obtain a target torque of the front motor, the left rear motor, and the right rear motor.

[0091] Optionally, the vehicle also includes a disconnecting device, which distributes torque to the front motor, the left rear motor and the right rear motor of the vehicle according to the operating mode and / or operating parameters to obtain the initial torque of the front motor, the left rear motor and the right rear motor, including: when the operating mode is the economy mode, the front motor is disconnected by the disconnecting device, and the torque is distributed based on the two-wheel drive mode to obtain the initial torque of the front motor, the left rear motor and the right rear motor; when the operating mode is the sports mode, the torque is distributed to the front motor, the left rear motor and the right rear motor based on the operating parameters and the load of the vehicle to obtain the initial torque of the front motor, the left rear motor and the right rear motor; when the operating mode is the comfort mode, the torque is distributed to the front motor, the left rear motor and the right rear motor based on the operating parameters and the load of the vehicle to obtain the initial torque of the front motor, the left rear motor and the right rear motor; or, the torque is distributed to the front motor, the left rear motor and the right rear motor based on the total output power of the vehicle to obtain the initial torque of the front motor, the left rear motor and the right rear motor.

[0092] Optionally, torque is distributed to the front motor, the left rear motor and the right rear motor based on the operating parameters and the load of the vehicle to obtain the initial torque of the front motor, the left rear motor and the right rear motor, including: calculating according to the wheel speed in the operating parameters, the actual yaw angular velocity in the operating parameters and the steering wheel angle in the operating parameters to obtain the vehicle speed; calculating according to the vehicle speed, the accelerator pedal opening in the operating parameters and the control pedal opening in the operating parameters to obtain the required torque and acceleration; if the vehicle starts anti-skid control, the acceleration is used as the target road adhesion coefficient; if the vehicle does not start anti-skid control, the ratio between the acceleration and the preset road adhesion coefficient is used The maximum value of is taken as the target road adhesion coefficient; the front axle vertical load and the rear axle vertical load are calculated based on the vehicle speed, acceleration, vehicle mass, slope angle in the operating parameters, the height of the vehicle's center of mass, the distance from the front axle to the center of mass, and the distance from the rear axle to the center of mass of the vehicle to obtain the front axle vertical load and the rear axle vertical load; the front axle vertical load, the rear axle vertical load and the target road adhesion coefficient are calculated to obtain the front axle longitudinal load and the rear axle longitudinal load; the inter-axle torque distribution coefficient is calculated based on the front axle longitudinal load and the rear axle longitudinal load; the torque is distributed to the front motor, the left rear motor and the right rear motor based on the inter-axle torque distribution coefficient and the required torque.

[0093] Optionally, when the operation mode is the comfort mode, the method further includes: calculating according to the target road adhesion coefficient, acceleration, vehicle speed and steering wheel angle to obtain a driving stability factor; calculating according to the required torque and the maximum torque of the vehicle's motor in the operating parameters to obtain a backup torque; when the first preset condition is met, the front motor, the left rear motor and the right rear motor are torque-distributed based on the operating parameters and the load of the vehicle to obtain the initial torques of the front motor, the left rear motor and the right rear motor, wherein the first preset condition at least includes: the accelerator pedal opening is greater than the first preset opening, or the accelerator pedal opening is greater than the second preset opening and less than the second preset opening, and the rate of change of the accelerator pedal opening is greater than the first preset value, or the driving stability factor is greater than the second preset value, or the target road adhesion coefficient is less than the third preset value, or the slope angle is greater than the fourth preset value, or the backup torque is less than the preset torque; when the first preset condition is not met, the front motor, the left rear motor and the right rear motor are torque-distributed based on the total output power of the vehicle to obtain the initial torques of the front motor, the left rear motor and the right rear motor.

[0094] Optionally, torque is distributed to the front motor, left rear motor and right rear motor based on the total output power of the vehicle to obtain the initial torque of the front motor, left rear motor and right rear motor, including: calculating the working efficiency of the vehicle's motor and the speed of the vehicle's motor according to the required torque to obtain the total output power of the vehicle; determining the inter-axle torque distribution coefficient according to the total output power; and distributing torque to the front motor, left rear motor and right rear motor according to the inter-axle torque distribution coefficient and the required torque to obtain the initial torque of the front motor, left rear motor and right rear motor.

[0095] Optionally, the initial torque is corrected to obtain the target torques of the front motor, the left rear motor and the right rear motor, including: when it is detected that the vehicle is slipping or drifting, the initial torque is corrected according to a first strategy to obtain the target torque; or the initial torque is corrected according to a second strategy to obtain the target torque.

[0096] Optionally, the initial torque is corrected according to the first strategy to obtain the target torque, which includes: calculating according to the vehicle speed and the steering wheel angle to obtain the target yaw rate; and correcting the initial torque according to the difference between the target yaw rate and the actual yaw rate to obtain the target torque.

[0097] Optionally, the initial torque is corrected according to the second strategy to obtain the target torque, including: determining the slip rate of the vehicle according to the vehicle speed; and correcting the initial torque according to the slip rate and acceleration to obtain the target torque. The device in this article can be a server, a PC, a PAD, a mobile phone, etc.

[0098] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having the following method steps: obtaining an operating mode selected by a target object and operating parameters of a vehicle, wherein the operating mode is one of the following: an economy mode, a sports mode, and a comfort mode; based on the operating mode and / or the operating parameters, distributing torque to the front motor of the vehicle, the left rear motor of the vehicle, and the right rear motor of the vehicle to obtain the initial torques of the front motor, the left rear motor, and the right rear motor; and correcting the initial torque to obtain the target torques of the front motor, the left rear motor, and the right rear motor.

[0099] Optionally, the vehicle also includes a disconnecting device, which distributes torque to the front motor, the left rear motor and the right rear motor of the vehicle according to the operating mode and / or operating parameters to obtain the initial torque of the front motor, the left rear motor and the right rear motor, including: when the operating mode is the economy mode, the front motor is disconnected by the disconnecting device, and the torque is distributed based on the two-wheel drive mode to obtain the initial torque of the front motor, the left rear motor and the right rear motor; when the operating mode is the sports mode, the torque is distributed to the front motor, the left rear motor and the right rear motor based on the operating parameters and the load of the vehicle to obtain the initial torque of the front motor, the left rear motor and the right rear motor; when the operating mode is the comfort mode, the torque is distributed to the front motor, the left rear motor and the right rear motor based on the operating parameters and the load of the vehicle to obtain the initial torque of the front motor, the left rear motor and the right rear motor; or, the torque is distributed to the front motor, the left rear motor and the right rear motor based on the total output power of the vehicle to obtain the initial torque of the front motor, the left rear motor and the right rear motor.

[0100] Optionally, torque is distributed to the front motor, the left rear motor and the right rear motor based on the operating parameters and the load of the vehicle to obtain the initial torque of the front motor, the left rear motor and the right rear motor, including: calculating according to the wheel speed in the operating parameters, the actual yaw angular velocity in the operating parameters and the steering wheel angle in the operating parameters to obtain the vehicle speed; calculating according to the vehicle speed, the accelerator pedal opening in the operating parameters and the control pedal opening in the operating parameters to obtain the required torque and acceleration; if the vehicle starts anti-skid control, the acceleration is used as the target road adhesion coefficient; if the vehicle does not start anti-skid control, the ratio between the acceleration and the preset road adhesion coefficient is used The maximum value of is taken as the target road adhesion coefficient; the front axle vertical load and the rear axle vertical load are calculated based on the vehicle speed, acceleration, vehicle mass, slope angle in the operating parameters, the height of the vehicle's center of mass, the distance from the front axle to the center of mass, and the distance from the rear axle to the center of mass of the vehicle to obtain the front axle vertical load and the rear axle vertical load; the front axle vertical load, the rear axle vertical load and the target road adhesion coefficient are calculated to obtain the front axle longitudinal load and the rear axle longitudinal load; the inter-axle torque distribution coefficient is calculated based on the front axle longitudinal load and the rear axle longitudinal load; the torque is distributed to the front motor, the left rear motor and the right rear motor based on the inter-axle torque distribution coefficient and the required torque.

[0101] Optionally, when the operation mode is the comfort mode, the method further includes: calculating according to the target road adhesion coefficient, acceleration, vehicle speed and steering wheel angle to obtain a driving stability factor; calculating according to the required torque and the maximum torque of the vehicle's motor in the operating parameters to obtain a backup torque; when the first preset condition is met, the front motor, the left rear motor and the right rear motor are torque-distributed based on the operating parameters and the load of the vehicle to obtain the initial torques of the front motor, the left rear motor and the right rear motor, wherein the first preset condition at least includes: the accelerator pedal opening is greater than the first preset opening, or the accelerator pedal opening is greater than the second preset opening and less than the second preset opening, and the rate of change of the accelerator pedal opening is greater than the first preset value, or the driving stability factor is greater than the second preset value, or the target road adhesion coefficient is less than the third preset value, or the slope angle is greater than the fourth preset value, or the backup torque is less than the preset torque; when the first preset condition is not met, the front motor, the left rear motor and the right rear motor are torque-distributed based on the total output power of the vehicle to obtain the initial torques of the front motor, the left rear motor and the right rear motor.

[0102] Optionally, torque is distributed to the front motor, left rear motor and right rear motor based on the total output power of the vehicle to obtain the initial torque of the front motor, left rear motor and right rear motor, including: calculating the working efficiency of the vehicle's motor and the speed of the vehicle's motor according to the required torque to obtain the total output power of the vehicle; determining the inter-axle torque distribution coefficient according to the total output power; and distributing torque to the front motor, left rear motor and right rear motor according to the inter-axle torque distribution coefficient and the required torque to obtain the initial torque of the front motor, left rear motor and right rear motor.

[0103] Optionally, the initial torque is corrected to obtain the target torques of the front motor, the left rear motor and the right rear motor, including: when it is detected that the vehicle is slipping or drifting, the initial torque is corrected according to a first strategy to obtain the target torque; or the initial torque is corrected according to a second strategy to obtain the target torque.

[0104] Optionally, the initial torque is corrected according to the first strategy to obtain the target torque, which includes: calculating according to the vehicle speed and the steering wheel angle to obtain the target yaw rate; and correcting the initial torque according to the difference between the target yaw rate and the actual yaw rate to obtain the target torque.

[0105] Optionally, correcting the initial torque according to the second strategy to obtain the target torque includes: determining a slip ratio of the vehicle according to the vehicle speed; and correcting the initial torque according to the slip ratio and acceleration to obtain the target torque.

[0106] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0107] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0108] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0109] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0110] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0111] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0112] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0113] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0114] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0115] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A torque distribution method for a vehicle, characterized in that: The vehicle comprises a front motor, a left rear motor and a right rear motor, including: Acquire an operation mode selected by a target object and an operation parameter of the vehicle, wherein the operation mode is one of the following: an economy mode, a sport mode, and a comfort mode; According to the operation mode and / or the operation parameters, torque is distributed to the front motor of the vehicle, the left rear motor of the vehicle, and the right rear motor of the vehicle to obtain initial torques of the front motor, the left rear motor, and the right rear motor; Correcting the initial torque to obtain target torques of the front motor, the left rear motor, and the right rear motor; The vehicle further includes a disconnect device, and according to the operation mode and / or the operation parameters, torque is distributed to the front motor of the vehicle, the left rear motor of the vehicle, and the right rear motor of the vehicle, and the initial torques of the front motor, the left rear motor, and the right rear motor are obtained, including: When the operation mode is the economy mode, the front motor is disconnected by the disconnecting device, and torque distribution is performed based on the two-wheel drive mode to obtain initial torques of the front motor, the left rear motor, and the right rear motor; When the operation mode is the sport mode, torque is distributed to the front motor, the left rear motor and the right rear motor based on the operation parameters and the load of the vehicle to obtain initial torques of the front motor, the left rear motor and the right rear motor; When the operation mode is the comfort mode, torque distribution is performed on the front motor, the left rear motor and the right rear motor based on the operation parameters and the load of the vehicle to obtain initial torques of the front motor, the left rear motor and the right rear motor; or, torque distribution is performed on the front motor, the left rear motor and the right rear motor based on the total output power of the vehicle to obtain initial torques of the front motor, the left rear motor and the right rear motor; Wherein, distributing the torque to the front motor, the left rear motor and the right rear motor based on the operating parameters and the load of the vehicle to obtain the initial torque of the front motor, the left rear motor and the right rear motor comprises: calculating according to the wheel speed in the operating parameters, the actual yaw angular velocity in the operating parameters and the steering wheel angle in the operating parameters to obtain the vehicle speed; Calculating according to the vehicle speed, the accelerator pedal opening in the operating parameters, and the control pedal opening in the operating parameters to obtain the required torque and acceleration; If the vehicle starts anti-skid control, the acceleration is used as a target road adhesion coefficient; If the anti-skid control is not activated for the vehicle, the maximum value between the acceleration and the preset road adhesion coefficient is used as the target road adhesion coefficient; Calculating according to the vehicle speed, the acceleration, the mass of the vehicle, the slope angle in the operating parameters, the height of the center of mass of the vehicle, the distance from the front axle of the vehicle to the center of mass, and the distance from the rear axle of the vehicle to the center of mass, to obtain the front axle vertical load and the rear axle vertical load; Calculating according to the front axle vertical load, the rear axle vertical load and the target road adhesion coefficient to obtain the front axle longitudinal load and the rear axle longitudinal load; Calculating according to the front axle longitudinal load and the rear axle longitudinal load to obtain an inter-axle torque distribution coefficient; Distributing torque to the front motor, the left rear motor, and the right rear motor according to the inter-axle torque distribution coefficient and the required torque; When the operation mode is a comfort mode, the method further comprises: calculating according to the target road adhesion coefficient, the acceleration, the vehicle speed and the steering wheel angle to obtain a driving stability factor; Calculating according to the required torque and the maximum torque of the motor of the vehicle in the operating parameters to obtain a reserve torque; When a first preset condition is met, torque is distributed to the front motor, the left rear motor and the right rear motor based on the operating parameters and the load of the vehicle to obtain initial torques of the front motor, the left rear motor and the right rear motor, wherein the first preset condition at least includes: the accelerator pedal opening is greater than the first preset opening, or the accelerator pedal opening is greater than the second preset opening and less than the second preset opening, and the rate of change of the accelerator pedal opening is greater than the first preset value, or the driving stability factor is greater than the second preset value, or the target road adhesion coefficient is less than the third preset value, or the slope angle is greater than the fourth preset value, or the backup torque is less than the preset torque; When the first preset condition is not met, torque is distributed to the front motor, the left rear motor and the right rear motor based on the total output power of the vehicle to obtain initial torques of the front motor, the left rear motor and the right rear motor.

2. The method according to claim 1, characterized in that Distributing torque to the front motor, the left rear motor, and the right rear motor based on the total output power of the vehicle to obtain initial torques of the front motor, the left rear motor, and the right rear motor includes: Calculating according to the required torque, the working efficiency of the motor of the vehicle and the speed of the motor of the vehicle to obtain the total output power of the vehicle; Determining the inter-axle torque distribution coefficient according to the total output power; Torque is distributed to the front motor, the left rear motor and the right rear motor according to the inter-axle torque distribution coefficient and the required torque to obtain initial torques of the front motor, the left rear motor and the right rear motor.

3. The method according to claim 2, characterized in that Correcting the initial torque to obtain target torques of the front motor, the left rear motor, and the right rear motor includes: When it is detected that the vehicle is slipping or drifting, the initial torque is corrected according to a first strategy to obtain the target torque; or The initial torque is corrected according to a second strategy to obtain the target torque.

4. The method according to claim 3, characterized in that Correcting the initial torque according to the first strategy to obtain the target torque includes: Calculating according to the vehicle speed and the steering wheel angle to obtain a target yaw rate; The initial torque is corrected according to a difference between the target yaw angular velocity and the actual yaw angular velocity to obtain the target torque.

5. The method according to claim 3, characterized in that: Correcting the initial torque according to the second strategy to obtain the target torque includes: determining a slip ratio of the vehicle according to the vehicle speed; The initial torque is corrected according to the slip ratio and the acceleration to obtain the target torque.

6. A vehicle, characterized in that: The controller of the vehicle executes the torque distribution method of the vehicle according to any one of claims 1-5.

7. A torque distribution device for a vehicle, characterized in that: The vehicle comprises a front motor, a left rear motor and a right rear motor, including: an acquisition unit, configured to acquire an operation mode selected by a target object and an operation parameter of the vehicle, wherein the operation mode is one of the following: an economic mode, a sports mode, and a comfort mode; a distribution unit, configured to distribute torque to the front motor of the vehicle, the left rear motor of the vehicle, and the right rear motor of the vehicle according to the operation mode and / or the operation parameter, so as to obtain initial torques of the front motor, the left rear motor, and the right rear motor; a correction unit, configured to correct the initial torque to obtain target torques of the front motor, the left rear motor and the right rear motor; Wherein, the vehicle further includes a disconnecting device, and the distribution unit includes: a first processing module, which is used to disconnect the front motor through the disconnecting device when the operation mode is the economy mode, and perform torque distribution based on the two-wheel drive mode to obtain the initial torque of the front motor, the left rear motor and the right rear motor; a second processing module, which is used to distribute the torque to the front motor, the left rear motor and the right rear motor based on the operating parameters and the load of the vehicle when the operation mode is the sports mode, and obtain the initial torque of the front motor, the left rear motor and the right rear motor; a third processing module, which is used to distribute the torque to the front motor, the left rear motor and the right rear motor based on the operating parameters and the load of the vehicle when the operation mode is the comfort mode, and obtain the initial torque of the front motor, the left rear motor and the right rear motor; or, distribute the torque to the front motor, the left rear motor and the right rear motor based on the total output power of the vehicle, and obtain the initial torque of the front motor, the left rear motor and the right rear motor; The second processing module includes: a first calculation submodule, which is used to calculate according to the wheel speed in the operating parameters, the actual yaw rate in the operating parameters and the steering wheel angle in the operating parameters to obtain the vehicle speed; a second calculation submodule, which is used to calculate according to the vehicle speed, the accelerator pedal opening in the operating parameters and the control pedal opening in the operating parameters to obtain the required torque and acceleration; a first determination submodule, which is used to use the acceleration as the target road adhesion coefficient if the vehicle starts anti-skid control; a second determination submodule, which is used to use the maximum value between the acceleration and the preset road adhesion coefficient as the target road adhesion coefficient if the vehicle does not start anti-skid control; a third calculation submodule, which is used to calculate according to the vehicle speed, the accelerator pedal opening in the operating parameters and the control pedal opening in the operating parameters to obtain the required torque and acceleration; The vehicle speed, the acceleration, the mass of the vehicle, the slope angle in the operating parameters, the height of the center of mass of the vehicle, the distance from the front axle of the vehicle to the center of mass, and the distance from the rear axle of the vehicle to the center of mass are calculated to obtain the front axle vertical load and the rear axle vertical load; a fourth calculation submodule is used to calculate according to the front axle vertical load, the rear axle vertical load and the target road adhesion coefficient to obtain the front axle longitudinal load and the rear axle longitudinal load; a fifth calculation submodule is used to calculate according to the front axle longitudinal load and the rear axle longitudinal load to obtain the inter-axle torque distribution coefficient; a distribution submodule is used to distribute torque to the front motor, the left rear motor and the right rear motor according to the inter-axle torque distribution coefficient and the required torque; The device further includes: a first calculation unit, for calculating, when the operation mode is the comfort mode, according to the target road adhesion coefficient, the acceleration, the vehicle speed and the steering wheel angle to obtain a driving stability factor; a second calculation unit, for calculating, according to the required torque and the maximum torque of the motor of the vehicle in the operating parameters to obtain a reserve torque; a first processing unit, for distributing torque to the front motor, the left rear motor and the right rear motor based on the operating parameters and the load of the vehicle when a first preset condition is met, to obtain an initial torque of the front motor, the left rear motor and the right rear motor, wherein the first preset condition at least includes The invention relates to a method for controlling the vehicle's front motor, the left rear motor, and the right rear motor to obtain an initial torque of the front motor, the left rear motor, and the right rear motor. The method comprises the following steps: (1) the accelerator pedal opening is greater than a first preset opening, or the accelerator pedal opening is greater than a second preset opening and less than the second preset opening, and the rate of change of the accelerator pedal opening is greater than a first preset value, or the driving stability factor is greater than a second preset value, or the target road adhesion coefficient is less than a third preset value, or the slope angle is greater than a fourth preset value, or the backup torque is less than a preset torque; and a second processing unit is used to distribute torque to the front motor, the left rear motor, and the right rear motor based on the total output power of the vehicle when the first preset condition is not met, so as to obtain the initial torque of the front motor, the left rear motor, and the right rear motor.

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