A Torque Calculation Method, Device, Equipment and Medium for a Distributed Electric Vehicle

Abstract

The present invention relates to a torque calculation method, device, equipment and medium for a distributed electric vehicle. The method includes: calculating the torque amplitudes distributed to the left and right sides of the target vehicle based on the additional yaw vehicle distance; calculating the total remaining torque that can be provided on the left and right sides of the target vehicle respectively based on the available torque of the remaining torque and the direction of the additional yaw torque of each electric wheel of the target vehicle; calculating the first additional torque executed on the left and right sides of the target vehicle based on the torque amplitudes distributed to the left and right sides of the target vehicle and the total remaining torque that can be provided on the left and right sides of the target vehicle respectively; calculating the second additional torque executed by each electric wheel of the target vehicle according to the remaining execution torque and the available torque of the remaining torque of each electric wheel of the target vehicle; calculating the target torque of each electric wheel based on the second additional torque and the driver intention torque of each electric wheel of the target vehicle. The present invention improves the service life of the electric wheel, and at the same time greatly improves the handling stability and safety of the vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of electric vehicle drive control, and particularly to a torque calculation method, device, equipment and medium for a distributed electric vehicle. Background Technique

[0002] With the continuous reduction of global oil resources, new energy electric vehicles are constantly developing. The drive modes of electric vehicles can generally be divided into two types: centralized and distributed. Distributed drive integrates motors inside each wheel to form electric wheels for driving. This drive mode has a compact structural space, high transmission efficiency, fast response speed, and strong independent controllability of torque; for an electric vehicle with this electric wheel configuration, the torque magnitude and torque direction of each electric wheel can be independently controlled, so the stability of the vehicle can be further improved.

[0003] During driving, the torque magnitude and torque direction of each electric wheel need to be comprehensively calculated by combining the driver's intention, the stability attitude of the vehicle, and the output capabilities of each electric wheel. If the calculation is improper, it may cause the vehicle to lose stability or damage the electric wheel; at the same time, if the capabilities of the motor and brake caliper cannot be maximally utilized, the handling and stability performance of the whole vehicle cannot be maximally exerted, reducing the handling and stability and safety of the whole vehicle. Summary of the Invention

[0004] In view of this, it is necessary to provide a torque calculation method, device, equipment and medium for a distributed electric vehicle to achieve accurate calculation of the torque magnitude of each electric wheel of the electric vehicle, so as to improve the stability of the vehicle, extend the working life of the electric wheel, and improve the handling and stability and safety of the vehicle.

[0005] To achieve the above object, in a first aspect, the present invention provides a torque calculation method for a distributed electric vehicle, including:

[0006] Obtain the additional yaw torque of the target vehicle, and calculate the torque amplitudes distributed to the left and right sides of the target vehicle based on the additional yaw distance;

[0007] Calculate the remaining torque available torque of each electric wheel of the target vehicle respectively, and calculate the total remaining torque that can be provided on the left and right sides of the target vehicle based on the direction of the remaining torque available torque and the additional yaw torque;

[0008] Calculate the first additional torque executed on the left and right sides of the target vehicle based on the torque amplitudes distributed to the left and right sides of the target vehicle and the total remaining torque that can be provided on the left and right sides of the target vehicle;

[0009] Calculate the remaining execution torque of the first additional torque transmitted to each electric wheel of the target vehicle based on the left and right sides of the target vehicle, and calculate the second additional torque executed by each electric wheel of the target vehicle according to the remaining execution torque and the remaining torque available torque of each electric wheel of the target vehicle;

[0010] Calculate the target torque of each electric wheel based on the second additional torque of each electric wheel of the target vehicle and the driver's intention torque.

[0011] Further, the obtaining of the additional yaw torque of the target vehicle includes:

[0012] Obtain the additional yaw torque of the target vehicle based on the yaw angular velocity and the sideslip angle of the center of mass of the target vehicle;

[0013] The calculating the torque amplitudes distributed to the left and right sides of the target vehicle based on the additional yaw distance includes:

[0014] Calculate the first difference of the output torques of the hub motors on the left and right sides of the target vehicle according to the additional yaw torque: Where, ΔM is the additional yaw torque of the target vehicle, r is the wheel radius, and d is the wheelbase;

[0015] Calculate the torque amplitudes distributed to the left and right sides of the target vehicle according to the first difference of the output torques of the hub motors on the left and right sides of the target vehicle:

[0016] Further, the remaining torque available torque of each electric wheel of the target vehicle includes the first remaining torque available torque of the motor of each electric wheel and the remaining available braking torque of the brake caliper of each electric wheel;

[0017] The calculating the remaining torque available torque of each electric wheel of the target vehicle respectively includes:

[0018] Determine the available torque of the motor in each electric wheel and the driver's driving intention torque, and calculate the first remaining torque available torque of the motor of each electric wheel of the target vehicle based on the available torque and the driver's driving intention torque;

[0019] Determine the available braking torque of the brake caliper in each electric wheel and the driver's braking intention torque, and calculate the remaining available braking torque of the brake caliper of each electric wheel of the target vehicle based on the available braking torque and the driver's braking intention torque.

[0020] Further, the total sum of the remaining torques that can be provided on the left and right sides of the target vehicle respectively includes the first total sum of the remaining torques that can be provided on the left side of the target vehicle and the second total sum of the remaining torques that can be provided on the right side of the target vehicle;

[0021] Calculating the total available residual torque that can be provided on the left and right sides of the target vehicle respectively based on the directions of the available residual torque and the additional yaw torque includes:

[0022] Determining the direction of the additional yaw torque;

[0023] Calculating the total available residual torque of the motors on the left and right sides of the target vehicle respectively based on the first available residual torque of each electric wheel motor of the target vehicle;

[0024] Calculating the total available residual braking torque of the brake calipers on the left and right sides of the target vehicle respectively based on the available residual braking torque of each electric wheel brake caliper of the target vehicle;

[0025] If the direction of the additional yaw torque is clockwise, determining the first total available residual torque that can be provided on the left side of the target vehicle as the total available residual torque of the motors on the left side of the target vehicle, and determining the second total available residual torque that can be provided on the right side of the target vehicle as the superposition of the total available residual torque of the motors on the right side of the target vehicle and the total available residual braking torque of the brake calipers on the right side of the target vehicle;

[0026] If the direction of the additional yaw torque is counterclockwise, determining the first total available residual torque that can be provided on the left side of the target vehicle as the superposition of the total available residual torque of the motors on the left side of the target vehicle and the total available residual braking torque of the brake calipers on the left side of the target vehicle, and determining the second total available residual torque that can be provided on the right side of the target vehicle as the total available residual torque of the motors on the right side of the target vehicle.

[0027] Further, calculating the first additional torque executed on the left and right sides of the target vehicle based on the torque amplitudes distributed to the left and right sides of the target vehicle and the total available residual torque that can be provided on the left and right sides of the target vehicle respectively includes:

[0028] Determining the minimum value among the torque amplitudes distributed to the left and right sides of the target vehicle, the first total available residual torque that can be provided on the left side of the target vehicle, and the second total available residual torque that can be provided on the right side of the target vehicle as the first additional torque executed on the left and right sides of the target vehicle.

[0029] Further, calculating the remaining execution torque transmitted to each electric wheel of the target vehicle based on the first additional torque executed on the left and right sides of the target vehicle includes:

[0030] Calculating the first remaining execution torque transmitted to each electric wheel motor of the target vehicle and the second remaining execution torque transmitted to each electric wheel brake caliper of the target vehicle based on the first additional torque;

[0031] Calculating the first remaining execution torque transmitted to each electric wheel motor of the target vehicle based on the first additional torque includes:

[0032] For each side of the target vehicle, calculate the total available torque of the first remaining torque corresponding to the electric wheel motor before each electric wheel on that side of the target vehicle, and determine the first remaining execution torque transmitted to each electric wheel motor on that side of the target vehicle based on the second difference between the first additional torque and the total available torque of the first remaining torque;

[0033] Calculating the second remaining execution torque transmitted to each electric wheel brake caliper of the target vehicle based on the first additional torque includes:

[0034] For each side of the target vehicle, calculate the total available torque of the second remaining torque corresponding to the electric wheel brake caliper before each electric wheel on that side of the target vehicle, and determine the second remaining execution torque transmitted to each electric wheel brake caliper on that side of the target vehicle based on the third difference between the first additional torque and the total available torque of the first remaining torque and the total available torque of the second remaining torque;

[0035] The second additional torque executed by each electric wheel of the target vehicle includes the third additional torque executed by each electric wheel motor of the target vehicle and the fourth additional torque executed by each electric wheel brake caliper of the target vehicle;

[0036] Calculating the second additional torque executed by each electric wheel of the target vehicle according to the remaining execution torque and the available torque of the remaining torque of each electric wheel of the target vehicle includes:

[0037] Determine the smaller value between the first remaining torque available torque of each electric wheel motor of the target vehicle and the first remaining execution torque transmitted to the electric wheel as the third additional torque executed by each electric wheel motor of the target vehicle;

[0038] Determine the smaller value between the remaining available braking torque of each electric wheel brake caliper of the target vehicle and the second remaining execution torque transmitted to the electric wheel brake caliper as the fourth additional torque executed by each electric wheel brake caliper of the target vehicle.

[0039] Furthermore, the target torque of each electric wheel includes the first target torque output by each electric wheel motor and the target braking torque output by the brake caliper;

[0040] Calculating the target torque of each electric wheel based on the second additional torque of each electric wheel of the target vehicle and the driver's intention torque includes:

[0041] Calculate the first target torque output by each electric wheel motor based on the third additional torque executed by each electric wheel motor of the target vehicle and the driver's driving intention torque;

[0042] Calculate the target braking torque output by each electric wheel brake caliper based on the fourth additional torque executed by each electric wheel brake caliper of the target vehicle and the driver's braking intention torque.

[0043] In a second aspect, the present invention further provides a torque calculation device for a distributed electric vehicle, including:

[0044] A torque amplitude calculation module, configured to obtain the additional yaw torque of a target vehicle, and calculate the torque amplitudes distributed to the left and right sides of the target vehicle based on the additional yaw vehicle distance;

[0045] A remaining torque available torque calculation module, configured to calculate the remaining torque available torques of each electric wheel of the target vehicle respectively, and calculate the total remaining torques that can be provided on the left and right sides of the target vehicle based on the directions of the remaining torque available torques and the additional yaw torque;

[0046] A first additional torque calculation module, configured to calculate the first additional torques executed on the left and right sides of the target vehicle based on the torque amplitudes distributed to the left and right sides of the target vehicle and the total remaining torques that can be provided on the left and right sides of the target vehicle;

[0047] A second additional torque calculation module, configured to calculate the remaining executed torques transferred to each electric wheel of the target vehicle based on the first additional torques executed on the left and right sides of the target vehicle, and calculate the second additional torques executed on each electric wheel of the target vehicle according to the remaining executed torques and the remaining torque available torques of each electric wheel of the target vehicle;

[0048] A target torque calculation module, configured to calculate the target torque of each electric wheel based on the second additional torque and the driver intention torque of each electric wheel of the target vehicle.

[0049] In a third aspect, the present invention further provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps in the above-mentioned torque calculation method for a distributed electric vehicle are implemented.

[0050] In a fourth aspect, the present invention further provides a computer storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned torque calculation method for a distributed electric vehicle are implemented.

[0051] The beneficial effects of adopting the above embodiments are as follows:

[0052] The present invention calculates the torque amplitudes distributed to the left and right sides of the target vehicle through the additional yaw vehicle distance, making the increase and decrease amounts of the additional yaw torque on the left and right sides of the vehicle the same, ensuring that the power performance of the vehicle is not changed, preventing the vehicle from accelerating or decelerating abnormally during the stability control process, and improving the safety of the vehicle; finally, the calculated target torque output comprehensively will never exceed the torque capacity range of the electric wheel, improving the durability and service life of the electric wheel.

[0053] In addition, the present invention maximally realizes the additional yaw torque of the vehicle through the cooperation of the brake caliper and the in-wheel motor, greatly improving the handling stability and safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 FIG. is a schematic flow chart of an embodiment of a torque calculation method for a distributed electric vehicle provided by the present invention;

[0055] Figure 2 FIG. is a schematic structural diagram of an embodiment of a torque calculation device for a distributed electric vehicle provided by the present invention;

[0056] Figure 3 FIG. is a schematic structural diagram of an embodiment of an electronic device provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0057] The following will specifically describe the preferred embodiments of the present invention with reference to the accompanying drawings. The accompanying drawings form a part of this application and are used together with the embodiments of the present invention to explain the principles of the present invention, rather than to limit the scope of the present invention.

[0058] In the description of the present invention, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the meaning of "plural" is two or more, unless otherwise specifically defined. Referring to "embodiment" in this article means that the specific features, structures or characteristics described in connection with the embodiment may be included in at least one embodiment of the present invention. The phrase appearing at various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein may be combined with other embodiments.

[0059] The present invention provides a torque calculation method, device, equipment and medium for a distributed electric vehicle. Improper distribution of the additional yaw torque based on stability calculation in an in-wheel motor vehicle may lead to vehicle instability, and if the capabilities of the motor and ESC are not fully utilized, the vehicle stability performance cannot be maximized or the motor output capacity of the in-wheel motor is exceeded, damaging the motor. Therefore, a comprehensive torque calculation method needs to be proposed.

[0060] Before describing the embodiments, the relevant terms are defined:

[0061] ESC: (Electronic Stability Controller, Electronic Stability Control System for Vehicles), which is an active safety technology to assist drivers in controlling vehicles and is also a further extension of the functions of the anti-lock braking system and traction control system of automobiles.

[0062] The following will separately elaborate on specific embodiments in detail:

[0063] Please refer to Figure 1 , Figure 1 which is a schematic flowchart of a process of an embodiment of a torque calculation method for a distributed electric vehicle provided by the present invention. A specific embodiment of the present invention discloses a torque calculation method for a distributed electric vehicle, including:

[0064] Step S101: Obtain the additional yaw torque of the target vehicle, and calculate the torque amplitudes distributed to the left and right sides of the target vehicle based on the additional yaw distance.

[0065] Step S102: Calculate the available torque of the remaining torque of each electric wheel of the target vehicle respectively, and calculate the total sum of the remaining torques that can be provided on the left and right sides of the target vehicle based on the direction of the available torque of the remaining torque and the additional yaw torque.

[0066] Step S103: Calculate the first additional torque executed on the left and right sides of the target vehicle based on the torque amplitudes distributed to the left and right sides of the target vehicle and the total sum of the remaining torques that can be provided on the left and right sides of the target vehicle respectively.

[0067] Step S104: Calculate the remaining execution torque transferred to each electric wheel of the target vehicle based on the first additional torque executed on the left and right sides of the target vehicle, and calculate the second additional torque executed on each electric wheel of the target vehicle according to the remaining execution torque of each electric wheel of the target vehicle and the available torque of the remaining torque.

[0068] Step S105: Calculate the target torque of each electric wheel based on the second additional torque of each electric wheel of the target vehicle and the driver's intended torque.

[0069] The present invention calculates the torque amplitudes distributed to the left and right sides of the target vehicle through the additional yaw distance, making the increase and decrease amounts of the additional yaw torque on the left and right sides of the vehicle the same, ensuring that the power performance of the vehicle is not changed, and preventing the vehicle from accelerating or decelerating abnormally during the stability control process, thereby improving the safety of the vehicle; finally, the calculated target torque output comprehensively will never exceed the torque capacity range of the electric wheel, improving the durability and service life of the electric wheel.

[0070] In addition, the present invention maximally realizes the additional yaw torque of the vehicle through the mutual cooperation of the brake caliper and the hub motor, greatly improving the handling stability and safety of the vehicle.

[0071] In one embodiment of the present invention, obtaining the additional yaw torque of the target vehicle includes:

[0072] Obtaining the additional yaw torque of the target vehicle based on the yaw angular velocity and the sideslip angle of the center of mass of the target vehicle;

[0073] Calculating the torque amplitudes distributed to the left and right sides of the target vehicle based on the additional yaw distance, including:

[0074] Calculating the first difference in the output torques of the hub motors on the left and right sides of the target vehicle according to the additional yaw torque: where, ΔM is the additional yaw torque of the target vehicle, r is the wheel radius, and d is the wheelbase;

[0075] Calculating the torque amplitudes distributed to the left and right sides of the target vehicle according to the first difference in the output torques of the hub motors on the left and right sides of the target vehicle:

[0076] It can be understood that the additional yaw torque of the vehicle can be calculated based on the vehicle yaw angular velocity and the sideslip angle of the center of mass. In the embodiments of the present invention, the clockwise direction of the vehicle additional yaw torque is defined as positive, and the counterclockwise direction is negative. When the additional yaw torque ΔM of the vehicle is 0, the first difference ΔT in the output torques of the hub motors on the left and right sides of the vehicle m is also 0, indicating that the vehicle is laterally stable and there is no need to adjust the lateral stability of the vehicle with additional yaw torque; where, the calculation method of the first difference in the output torques of the hub motors on the left and right sides of the vehicle is: r is the wheel, and d is the wheelbase.

[0077] When M is less than 0 and ΔT m is less than 0, it indicates that the vehicle is laterally unstable during operation, and the torque on the left side of the vehicle needs to be less than the torque on the right side; when ΔM is greater than 0, that is, ΔT m is greater than 0, it indicates that the vehicle is laterally unstable during operation, and the torque on the left side of the vehicle needs to be greater than the torque on the right side.

[0078] When calculating the torque amplitudes distributed to the left and right sides of the target vehicle, let ΔT l +ΔT r =ΔT m , and when |ΔT l | = |ΔT r [ | then: where ΔT l is the torque distributed to the left side, and ΔT r is the torque distributed to the right side. It can be seen that the magnitudes of the torques distributed to the left and right sides are equal and the signs are opposite. Further, let the torque amplitudes T distributed to the left and right sides of the target vehicle absis equal to the torque magnitudes allocated to the left and right sides, i.e., let T abs be equal to ΔT l the absolute value of, i.e., also equal to the absolute value of ΔT r the absolute value of.

[0079] In an embodiment of the present invention, the available torque of the remaining torque of each electric wheel of the target vehicle includes the first available torque of the remaining torque of the motor of each electric wheel and the remaining available braking torque of the brake caliper of each electric wheel;

[0080] Calculate the available torque of the remaining torque of each electric wheel of the target vehicle respectively, including:

[0081] Determine the available torque of the motor in each electric wheel and the driver's driving intention torque, and calculate the first available torque of the remaining torque of the motor of each electric wheel of the target vehicle based on the available torque and the driver's driving intention torque;

[0082] Determine the available braking torque of the brake caliper in each electric wheel and the driver's braking intention torque, and calculate the remaining available braking torque of the brake caliper of each electric wheel of the target vehicle based on the available braking torque and the driver's braking intention torque.

[0083] It can be understood that the available torque of the remaining torque of each electric wheel includes the first available torque of the remaining torque of the motor of the electric wheel, and the remaining available braking torque of the brake caliper of the ESC system configured for the electric wheel vehicle.

[0084] Specifically, the formula for the first available torque of the remaining torque of the motor inside each electric wheel is:

[0085] When ΔM is greater than 0:

[0086] When ΔM is less than or equal to 0:

[0087] Where, ΔT lmotormax[i] is the available torque of the remaining torque of the motor in the i-th electric wheel on the left side of the vehicle, T lmotorlimt[i] is the maximum available torque of the motor in the i-th electric wheel on the left side of the vehicle, which is determined by the states such as the speed and temperature of the motor, and there are various states where the magnitudes of each wheel may be the same or different; ΔT rmotormax[i] is the available torque of the remaining torque of the motor in the right i-th electric wheel of the vehicle, T rmotorlimt[i] is the maximum available torque of the motor in the electric wheel on the right side of the vehicle, which is determined by the states such as the speed and temperature of the motor, and there are various states where the magnitudes of each wheel may be the same or different; T accis the driver's driving intention torque calculated based on the accelerator pedal; i is the serial number of the left and right electric wheels. The electric wheels on the same axle have the same serial number, and it is calibrated to increase in sequence from the front of the vehicle to the rear of the vehicle, i ∈ [1, n]. n is the number of axles of the vehicle.

[0088] The remaining available braking torque of the brake caliper of each electric wheel ESC system is:

[0089]

[0090] In the formula: ΔT lescmax[i] is the remaining available braking torque of the i-th brake caliper on the left side of the electric wheel ESC system. T lesclimt[i] is the maximum braking torque of the i-th brake caliper on the left side of the electric wheel ESC system, which is determined by the mechanical and hydraulic system characteristics of the ESC system; ΔT rescmax[i] is the remaining available braking torque of the i-th brake caliper on the right side of the ESC system, T resclimt[i] is the maximum braking torque of the i-th brake caliper on the right side of the ESC system, which is determined by the mechanical and hydraulic system characteristics of the ESC system; T brake is the driver's braking intention torque calculated based on the brake pedal.

[0091] In an embodiment of the present invention, the total remaining torque that can be provided on the left and right sides of the target vehicle includes the first total remaining torque that can be provided on the left side of the target vehicle and the second total remaining torque that can be provided on the right side of the target vehicle;

[0092] Calculating the total remaining torque that can be provided on the left and right sides of the target vehicle based on the direction of the available torque of the remaining torque and the additional yaw torque includes:

[0093] Determine the direction of the additional yaw torque;

[0094] Calculate the total available remaining torque of the motors on the left and right sides of the target vehicle respectively according to the first available remaining torque of each electric wheel motor of the target vehicle;

[0095] Calculate the total available remaining braking torque of the brake calipers on the left and right sides of the target vehicle respectively according to the remaining available braking torque of each electric wheel brake caliper of the target vehicle;

[0096] If the direction of the additional yaw torque is clockwise, determine that the first total remaining torque that can be provided on the left side of the target vehicle is the total available remaining torque of the motors on the left side of the target vehicle, and determine that the second total remaining torque that can be provided on the right side of the target vehicle is the superposition of the total available remaining torque of the motors on the right side of the target vehicle and the total available remaining braking torque of the brake calipers on the right side of the target vehicle;

[0097] If the additional yaw torque direction is counterclockwise, determine that the total first remaining torque available on the left side of the target vehicle is the superposition of the total available remaining torque of the motors on the left side of the target vehicle and the total available remaining braking torque of the brake calipers on the left side of the target vehicle, and determine that the total second remaining torque available on the right side of the target vehicle is the total available remaining torque of the motors on the right side of the target vehicle.

[0098] It can be understood that the total remaining torque available on the left and right sides of the target vehicle respectively includes the total first remaining torque available on the left side of the target vehicle and the total second remaining torque available on the right side of the target vehicle. Therefore, the total remaining torque on the left and right sides needs to be calculated separately. Specifically, the total available remaining torque of the first i motors on the left and right sides and the total available remaining braking torque of the first i brake calipers on the left and right sides of the ESC system can be calculated.

[0099] Among them: The total available remaining torque of the first i motors on the left and right sides is calculated as:

[0100]

[0101] In the formula: ΔT_motoradd lmax[i] is the total available remaining torque of the first i motors on the left side; ΔT_motoradd rmax[i] is the total available remaining torque of the first i motors on the right side; j is the serial number of the electric wheels in the order from the front of the vehicle to the rear of the vehicle, 1≤j≤i.

[0102] Among them: The total available remaining braking torque of the ESC system on the left and right sides is calculated as:

[0103]

[0104] In the formula: ΔT_ecsadd lmax[i] [[ID=**27**]]is the total available remaining braking torque of the first i brake calipers on the left side of the ESC system; ΔT_escadd rmax[i] is the total available remaining braking torque of the first i brake calipers on the right side of the ESC system.

[0105] Furthermore, when i = n, At this time, ΔT_motoradd lmax[n] represents the total available remaining torque of all the motors on the left side; At this time, ΔT_motoradd rmax[n] represents the total available remaining torque of all the motors on the right side.

[0106] At this time, ΔT_ecsadd lmax[n] represents the total available remaining braking torque of all the brake calipers on the left side of the ESC system; At this time, ΔT_ecsadd rmax[n] represents the total remaining available braking torque of all the brake calipers on the right side of the ESC system.

[0107] It can be understood that when the direction of the additional yaw torque is different, in order to ensure the lateral level of the whole vehicle, the total remaining torque that can be provided on both sides of the vehicle is different. Therefore, it is necessary to further calculate the maximum remaining torque capacity that can be provided on the left and right sides of the target vehicle according to the direction of the additional yaw torque.

[0108] Specifically, when ΔM > 0: the torque of the electric wheels on the left side of the vehicle should increase, and the torque of the electric wheels on the right side should decrease. Therefore, the maximum remaining torque that can be provided on the left side is directly equal to the sum of the remaining available torques of all the motors on the left side and cannot be superimposed on the total remaining available braking torque of all the brake calipers on the left side of the ESC system; the maximum remaining torque that can be provided on the right side is equal to the sum of the remaining available torques of all the motors on the left side and is superimposed on the total remaining available braking torque of all the brake calipers on the left side of the ESC system. The calculation formula is:

[0109]

[0110] When ΔM ≤ 0: the torque of the electric wheels on the left side should decrease, and the torque of the electric wheels on the right side should increase. Therefore, the maximum remaining torque that can be provided on the left side is directly equal to the sum of the remaining available torques of all the motors on the left side and is superimposed on the total remaining available braking torque of all the brake calipers on the left side of the ESC system; the maximum remaining torque that can be provided on the right side is equal to the sum of the remaining available torques of all the motors on the left side and cannot be superimposed on the total remaining available braking torque of all the brake calipers on the left side of the ESC system. The calculation formula is:

[0111]

[0112] In the formula: ΔT_add lmax is the total maximum remaining torque that can be provided on the left side of the target vehicle, that is, the first total remaining torque that can be provided on the left side of the target vehicle; ΔT_add rmax is the total maximum remaining torque that can be provided on the right side, that is, the second total remaining torque that can be provided on the left side of the target vehicle. It can be understood that ΔT_add lmax and ΔT_add rmax are the final results of the cooperation between the brake calipers and the in-wheel motors, which greatly improves the handling stability and safety of the vehicle by maximizing the additional yaw torque of the vehicle.

[0113] In one embodiment of the present invention, calculating the first additional torque executed on the left and right sides of the target vehicle based on the torque amplitudes allocated to the left and right sides of the target vehicle and the total remaining torque that can be provided on the left and right sides of the target vehicle respectively includes:

[0114] Determine the minimum value among the torque amplitudes allocated to the left and right sides of the target vehicle, the total first remaining torque that can be provided on the left side of the target vehicle, and the total second remaining torque that can be provided on the right side of the target vehicle as the first additional torque executed on the left and right sides of the target vehicle.

[0115] Among them, when calculating the first additional torque executed on the left and right sides of the target vehicle, the calculation formula is:

[0116] ΔT = minΔT_add lmax , ΔT_add rmax , T abs )

[0117] That is, the first additional torque ΔT is the minimum value of ΔT_add lmax , ΔT_add rmax and T abs among the three.

[0118] It can be understood that if the additional yaw torque needs to be allocated to the torque amplitudes T abs on the left and right sides and exceeds the total maximum remaining torque sum ΔT_add lmax that can be provided on the left side, and the total maximum remaining torque sum ΔT_add rmax that can be provided on the right side, then the first additional torque executed on the left and right sides of the target vehicle is executed according to the smaller value of the total maximum remaining torque sum ΔT_add lmax that can be provided on the left side and the total maximum remaining torque sum ΔT_add rmax that can be provided on the right side. In this way, the additional torque can be executed to the greatest extent while avoiding the use of the electric wheels beyond their capabilities.

[0119] If the additional yaw torque needs to be allocated to the torque amplitudes T abs on the left and right sides and does not exceed the total maximum remaining torque sum ΔT_add lmax that can be provided on the left side and the total maximum remaining torque sum ΔT_add rmax that can be provided on the right side, then the additional torque executed on the left and right sides of the vehicle is executed according to the torque amplitudes T abs to which the yaw torque needs to be allocated on the left and right sides to ensure the stable control requirements of the vehicle.

[0120] In one embodiment of the present invention, calculating the remaining execution torque transmitted to each electric wheel of the target vehicle based on the first additional torque executed on the left and right sides of the target vehicle includes:

[0121] Calculate the first remaining execution torque transferred to each electric wheel motor of the target vehicle based on the first additional torque and the second remaining execution torque transferred to each electric wheel brake caliper of the target vehicle;

[0122] Calculating the first remaining execution torque transferred to each electric wheel motor of the target vehicle based on the first additional torque includes:

[0123] For each side of the target vehicle, calculate the total available torque of the first remaining torque of the electric wheel motor corresponding to each electric wheel before each electric wheel on that side of the target vehicle, and determine the first remaining execution torque transferred to each electric wheel motor on that side of the target vehicle based on the second difference between the first additional torque and the total available torque of the first remaining torque;

[0124] Specifically, the first remaining execution torque of the first additional torque executed on the left and right sides of the vehicle transferred to the i-th electric wheel motor is:

[0125] If the sum of the first remaining available torques of the first i-1 motors on the left side of the vehicle is less than the first additional torque executed on the left and right sides of the vehicle, then all of the first i-1 motors on the left side are superimposed according to the calculated available torque of the first remaining torque of the motor in the electric wheel, and at the same time, the first remaining execution torque of the first additional torque executed on the left and right sides transferred to the i-th electric wheel is equal to the first additional torque executed on the left and right sides of the vehicle minus the sum of the first remaining available torques of the first i-1 motors on the left side;

[0126] If the sum of the remaining available torques of the first i-1 motors on the left side is not less than the first additional torque executed on the left and right sides of the vehicle, then the first remaining execution torque of the first additional torque executed on the left and right sides of the vehicle transferred to the i-th electric wheel motor is equal to 0.

[0127] The calculation method of the remaining execution torque of the right-side motor is still the same as that of the left side. It can be understood that through the above operations, the output torque of the electric wheel motor will never exceed its torque capacity range, improving the durability and service life of the electric wheel.

[0128] The calculation formula for the first remaining execution torque of the first additional torque executed on the left and right sides of the vehicle transferred to the i-th electric wheel motor is simplified to:

[0129]

[0130] ΔT lmotor[i] is the remaining execution torque of the additional torque executed on the left side of the vehicle transferred to the motor of the i-th electric wheel; ΔT rmotor[i] is the remaining execution torque of the additional torque executed on the right side of the vehicle transferred to the motor of the i-th electric wheel; ΔT_motoradd lmax[i-1] is the sum of the first remaining available torques of the first i-1 motors on the left side of the vehicle; ΔT_motoraddrmax[i-1] is the sum of the first remaining available torques of the first i - 1 motors on the right side of the vehicle.

[0131] Furthermore,

[0132]

[0133] Calculating the second remaining execution torque transmitted from the first additional torque to each electric wheel brake caliper of the target vehicle includes:

[0134] For each side of the target vehicle, calculate the sum of the second remaining torque available torques corresponding to the electric wheel brake calipers of the electric wheels before each electric wheel on that side of the target vehicle, and determine the second remaining execution torque transmitted to each electric wheel brake caliper on that side of the target vehicle based on the third difference between the first additional torque and the sum of the first remaining available torques and the sum of the second remaining available torques;

[0135] Specifically, the second remaining execution torque transmitted from the first additional torque executed on the left and right sides of the vehicle to the i - th electric wheel brake caliper is:

[0136] If the difference between the first additional torque executed on the left and right sides of the vehicle and the sum of the remaining available torques of all the motors on the left side, ΔT_motoradd lmax[n] is less than or equal to 0, then the second remaining execution torque transmitted from the first additional torque executed on the left side of the vehicle to the i - th electric wheel brake caliper is 0;

[0137] If the difference between the first additional torque executed on the left and right sides of the vehicle and the sum of the remaining available torques of all the motors on the left side, ΔT_motoradd lmax[n] is greater than 0, and this difference is greater than the sum of the remaining available braking torques of the first i - 1 brake calipers on the left side of the ESC system, ΔT_ecsadd lmax[i-1] then the first i - 1 brake calipers on the left side of the front ESC system execute according to the remaining available braking torques of each brake caliper, and at the same time, the second remaining execution torque transmitted from the first additional torque executed on the left side of the vehicle to the brake caliper of the i - th electric wheel is equal to the difference between the first additional torque executed on the left and right sides of the vehicle and the sum of the remaining available torques of all the motors on the left side, ΔT_motoradd lmax[n] on the basis of subtracting the sum of the remaining available braking torques of the first i - 1 brake calipers on the left side of the ESC system, ΔT_ecsadd lmax[i-1] ;

[0138] If the difference between the first additional torque executed on the left and right sides of the vehicle and the sum of the remaining available torques of all the motors on the left side, ΔT_motoradd lmax[n] is greater than 0, and this difference is not greater than the sum of the remaining available braking torques of the first i - 1 brake calipers on the left side of the ESC system, ΔT_ecsaddlmax[i-1] When this occurs, the second remaining execution torque of the first additional torque executed on the left side of the vehicle transmitted to the brake caliper of the ith electric wheel is equal to 0.

[0139] The calculation method of the second remaining execution torque of the first additional torque executed on the right side of the vehicle transmitted to the brake caliper of the ith electric wheel is the same as that on the left side. It can be understood that during the vehicle stability control process, the additional yaw torque of the vehicle is first executed by the motors inside the electric wheels. Since the response time of the motors is short, the process time of the vehicle stability control is shortened, improving the safety and stability of the vehicle. At the same time, when all the electric wheels on the same side cannot meet the required additional yaw torque, the insufficient part is supplemented by the mechanical hydraulic system of the ESC. Therefore, when the required additional yaw torque of the vehicle is large, the motors inside the electric wheels and the mechanical hydraulic system of the ESC cooperate with each other to achieve the required additional yaw torque of the vehicle, improving the vehicle stability control ability and further enhancing the safety and stability of the vehicle.

[0140] The calculation formula for the remaining execution torque of the first additional torque executed on the left and right sides of the vehicle transmitted to the brake caliper of the ith electric wheel is:

[0141]

[0142] In the formula: ΔT lesc[i] is the remaining execution torque of the additional torque executed on the left side of the vehicle transmitted to the brake caliper of the ith electric wheel; ΔT resc[i] is the remaining execution torque of the additional torque executed on the right side of the vehicle transmitted to the brake caliper of the ith electric wheel; ΔT_motoradd lmax[n] is the sum of the remaining available torques of all the motors on the left side; ΔT_motoradd rmax[n] is the sum of the remaining available torques of all the motors on the right side; ΔT_ecsadd lmax[i-1] is the sum of the remaining available braking torques of the first i - 1 brake calipers on the left side of the ESC system; ΔT_ecsadd rmax[i-1] is the sum of the remaining available braking torques of the first i - 1 brake calipers on the right side of the ESC system.

[0143] Furthermore,

[0144]

[0145] The second additional torque executed on each electric wheel of the target vehicle includes the third additional torque executed by the motor of each electric wheel of the target vehicle and the fourth additional torque executed by the brake caliper of each electric wheel of the target vehicle;

[0146] Calculate the second additional torque executed by each electric wheel of the target vehicle based on the remaining execution torque and available torque of each electric wheel of the target vehicle, including:

[0147] Determine the smaller value between the first remaining available torque of the motor of each electric wheel of the target vehicle and the first remaining execution torque transmitted to the electric wheel as the third additional torque executed by the motor of each electric wheel of the target vehicle;

[0148] Determine the smaller value between the remaining available braking torque of the brake caliper of each electric wheel of the target vehicle and the second remaining execution torque transmitted to the brake caliper of the electric wheel as the fourth additional torque executed by the brake caliper of each electric wheel of the target vehicle.

[0149] Specifically, the third additional torque executed by the motors of the electric wheels on the left and right sides of the target vehicle is equal to the smaller value between the remaining available torque of the motor and the first remaining execution torque transmitted to the wheel;

[0150] The fourth additional torque executed by the brake calipers of the electric wheels on the left and right sides of the target vehicle is equal to the smaller value between the remaining available braking torque and the second remaining execution torque transmitted to the wheel.

[0151] The calculation formula is:

[0152]

[0153] In the formula, !ΔT lmotor[i] is the additional torque executed by the i-th motor of the left electric wheel of the target vehicle; !ΔT rmotor[i] is the additional torque executed by the i-th motor of the right electric wheel of the target vehicle; !ΔT lesc[i] is the additional torque executed by the i-th brake caliper of the left electric wheel of the target vehicle; !ΔT resc[i] is the additional torque executed by the i-th brake caliper of the right electric wheel of the target vehicle.

[0154] In an embodiment of the present invention, the target torque of each electric wheel includes the first target torque output by the motor of each electric wheel and the target braking torque output by the brake caliper;

[0155] Calculate the target torque of each electric wheel based on the second additional torque and the driver intention torque of each electric wheel of the target vehicle, including:

[0156] Calculate the first target torque output by the motor of each electric wheel based on the third additional torque executed by the motor of each electric wheel of the target vehicle and the driver driving intention torque;

[0157] Calculate the target braking torque output by the brake caliper of each electric wheel based on the fourth additional torque executed by the brake caliper of each electric wheel of the target vehicle and the driver braking intention torque.

[0158] Specifically, calculate the first target torque of each electric wheel motor and the target torque of the brake caliper. The calculation formula is as follows:

[0159] When ΔM is greater than 0:

[0160]

[0161] When ΔM is not greater than 0:

[0162]

[0163] In the formula, T lmotortarget[i] —— The target torque output by the i-th motor on the left side; T rmotortarget[i] —— The target torque output by the i-th motor on the right side; T lesctarget[i] —— The target braking torque output by the i-th brake caliper on the left side of the ESC system; T resctarget[i] —— The target braking torque output by the i-th brake caliper on the right side of the ESC system.

[0164] It can be understood that when the additional yaw torque required by the vehicle is large, the motor inside the electric wheel and the mechanical hydraulic system of the ESC cooperate with each other to achieve the additional yaw torque required by the vehicle, improve the vehicle stability control ability, and further improve the safety and stability of the vehicle.

[0165] To better implement the torque calculation method for a distributed electric vehicle in the embodiments of the present invention, based on the torque calculation method for a distributed electric vehicle, correspondingly, please refer to Figure 2 , Figure 2 is a schematic structural diagram of an embodiment of the torque calculation method for a distributed electric vehicle provided by the present invention. The embodiments of the present invention provide a torque calculation device 200 for a distributed electric vehicle, including:

[0166] A torque amplitude calculation module 201, configured to obtain the additional yaw torque of the target vehicle and calculate the torque amplitudes distributed to the left and right sides of the target vehicle based on the additional yaw distance;

[0167] A remaining torque available torque calculation module 202, configured to calculate the remaining torque available torque of each electric wheel of the target vehicle respectively, and calculate the total remaining torque that can be provided on the left and right sides of the target vehicle based on the direction of the remaining torque available torque and the additional yaw torque;

[0168] A first additional torque calculation module 203, configured to calculate the first additional torque executed on the left and right sides of the target vehicle based on the torque amplitudes distributed to the left and right sides of the target vehicle and the total remaining torque that can be provided on the left and right sides of the target vehicle;

[0169] The second additional torque calculation module 204 is configured to calculate the remaining execution torque transferred from the first additional torque executed on both sides of the target vehicle to each electric wheel of the target vehicle, and calculate the second additional torque executed by each electric wheel of the target vehicle according to the remaining execution torque of each electric wheel of the target vehicle and the remaining torque available torque;

[0170] The target torque calculation module 205 is configured to calculate the target torque of each electric wheel based on the second additional torque of each electric wheel of the target vehicle and the driver intention torque.

[0171] It should be noted here that: the device 200 provided in the above embodiment can implement the technical solutions described in the above method embodiments. The specific implementation principles of the above modules or units can be referred to the corresponding content in the above method embodiments, and will not be elaborated here.

[0172] Based on the above torque calculation method for distributed electric vehicles, an embodiment of the present invention further provides an electronic device, including: a processor, a memory, and a computer program stored in the memory and executable on the processor; when the processor executes the computer program, it implements the steps in the torque calculation method for distributed electric vehicles in the above embodiments.

[0173] Figure 3 FIG. shows a schematic structural diagram of an electronic device 300 suitable for implementing an embodiment of the present invention. The electronic device in an embodiment of the present invention may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Tablet Computers), PMPs (Portable Multimedia Players), vehicle terminals (such as vehicle navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 3 The shown electronic device is only an example, and should not bring any limitation to the functions and usage ranges of the embodiments of the present invention.

[0174] The electronic device includes: a memory and a processor. Here, the processor may be referred to as the processing device 301 below, and the memory may include at least one of the read-only memory (ROM) 302, random access memory (RAM) 303, and storage device 308 below, as specifically shown below:

[0175] Such as Figure 3As shown, the electronic device 300 may include a processing device (such as a central processing unit, a graphics processing unit, etc.) 301, which may perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 302 or a program loaded from a storage device 308 into a random access memory (RAM) 303. In the RAM 303, various programs and data required for the operation of the electronic device 300 are also stored. The processing device 301, the ROM 302, and the RAM 303 are connected to each other through a bus 304. An input / output (I / O) interface 305 is also connected to the bus 304.

[0176] Generally, the following devices may be connected to the I / O interface 305: an input device 306 including, for example, a touch screen, a touchpad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 307 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 308 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 309. The communication device 309 may allow the electronic device 300 to communicate with other devices wirelessly or wiredly to exchange data. Although Figure 3 an electronic device 300 with various devices is shown, it should be understood that it is not required to implement or have all the shown devices. Instead, more or fewer devices may be implemented or had.

[0177] Specifically, according to an embodiment of the present invention, the process described above with reference to the flowchart may be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program contains program codes for executing the method shown in the flowchart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication device 309, or installed from the storage device 308, or installed from the ROM 302. When the computer program is executed by the processing device 301, the above-mentioned functions defined in the method of the embodiment of the present invention are executed.

[0178] Based on the above torque calculation method for a distributed electric vehicle, an embodiment of the present invention also correspondingly provides a computer-readable storage medium, which stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps in the torque calculation method for a distributed electric vehicle in the above various embodiments.

[0179] Those skilled in the art can understand that all or part of the processes of implementing the methods in the above embodiments can be completed by instructing relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. Among them, the computer-readable storage medium is a disk, an optical disc, a read-only memory or a random access memory, etc.

[0180] As mentioned above, the above are only the preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A torque calculation method for a distributed electric vehicle, characterized in that: include: Obtaining an additional yaw torque of the target vehicle, and calculating torque amplitudes distributed to the left and right sides of the target vehicle based on the additional yaw torque; Calculating the remaining torque available for each electric wheel of the target vehicle respectively, and calculating the sum of the remaining torques available for the left and right sides of the target vehicle respectively based on the remaining torque available and the direction of the additional yaw torque; Calculating a first additional torque executed on the left and right sides of the target vehicle based on the torque amplitude distributed to the left and right sides of the target vehicle and the sum of the remaining torques that can be provided by the left and right sides of the target vehicle respectively; Calculating a remaining execution torque transmitted to each electric wheel of the target vehicle based on the first additional torque executed on the left and right sides of the target vehicle, and calculating a second additional torque executed by each electric wheel of the target vehicle based on the remaining execution torque of each electric wheel of the target vehicle and the remaining torque available; calculating a target torque for each electric wheel based on the second additional torque for each electric wheel of the target vehicle and the driver's intended torque; The remaining available torque of each electric wheel of the target vehicle includes the first remaining available torque of each electric wheel motor and the remaining available braking torque of each electric wheel brake caliper; The method of calculating the available remaining torque of each electric wheel of the target vehicle includes: determining an available torque of each electric wheel motor and a driver's intended driving torque, and calculating a first remaining available torque of each electric wheel motor of the target vehicle based on the available torque and the driver's intended driving torque; The available braking torque and the driver's intended braking torque of each electric wheel brake caliper are determined, and the remaining available braking torque of each electric wheel brake caliper of the target vehicle is calculated based on the available braking torque and the driver's intended braking torque.

2. The torque calculation method of a distributed electric vehicle according to claim 1, characterized in that: The obtaining of the additional yaw torque of the target vehicle includes: Obtaining an additional yaw torque of the target vehicle based on the yaw angular velocity and the sideslip angle of the center of mass of the target vehicle; The calculating of the torque amplitude distributed to the left and right sides of the target vehicle based on the additional yaw torque includes: Calculate the first difference in output torque of the left and right wheel hub motors of the target vehicle according to the additional yaw torque: ,in, is the additional yaw torque of the target vehicle, is the wheel radius, is the wheelbase; The torque amplitude distributed to the left and right sides of the target vehicle is calculated based on the first difference in the output torque of the left and right wheel hub motors of the target vehicle: .

3. The torque calculation method of a distributed electric vehicle according to claim 1, characterized in that: The sum of the residual torques respectively available on the left and right sides of the target vehicle includes a first sum of the residual torques available on the left side of the target vehicle and a second sum of the residual torques available on the right side of the target vehicle; The calculating of the sum of the remaining torques that can be provided by the left and right sides of the target vehicle respectively based on the direction of the remaining torque available torque and the additional yaw torque includes: Determine the direction of the additional yaw torque; Calculate the sum of the remaining torque available torques of the motors on the left and right sides of the target vehicle respectively according to the first remaining torque available torque of each electric wheel motor of the target vehicle; Calculate the sum of the remaining available braking torques of the left and right brake calipers of the target vehicle based on the remaining available braking torque of each electric wheel brake caliper of the target vehicle; If the additional yaw torque is in a clockwise direction, the first total residual torque available on the left side of the target vehicle is determined to be the total residual torque available on the left side of the target vehicle, and the second total residual torque available on the right side of the target vehicle is determined to be the sum of the residual torque available on the right side of the target vehicle and the residual torque available on the right side of the target vehicle. If the direction of the additional yaw torque is counterclockwise, the first total residual torque that can be provided on the left side of the target vehicle is determined to be the superposition of the total residual torque of the motor on the left side of the target vehicle and the total residual available braking torque of the brake caliper on the left side of the target vehicle, and the second total residual torque that can be provided on the right side of the target vehicle is determined to be the total residual available torque of the motor on the right side of the target vehicle.

4. The torque calculation method of a distributed electric vehicle according to claim 1, characterized in that: The first additional torque to be executed on the left and right sides of the target vehicle is calculated based on the torque amplitudes distributed to the left and right sides of the target vehicle and the sum of the remaining torques that can be provided by the left and right sides of the target vehicle, including: The minimum value among the torque amplitude distributed to the left and right sides of the target vehicle, the first residual torque sum available on the left side of the target vehicle, and the second residual torque sum available on the right side of the target vehicle is determined as the first additional torque executed on the left and right sides of the target vehicle.

5. The torque calculation method of a distributed electric vehicle according to claim 1, characterized in that: The calculation of the remaining execution torque transmitted to each electric wheel of the target vehicle based on the first additional torque executed on the left and right sides of the target vehicle includes: calculating a first remaining execution torque transmitted to each electric wheel motor of the target vehicle and a second remaining execution torque transmitted to each electric wheel brake caliper of the target vehicle based on the first additional torque; Calculating a first remaining execution torque to be transmitted to each electric wheel motor of the target vehicle based on the first additional torque includes: For each side of the target vehicle, calculating a first residual torque available sum corresponding to each electric wheel motor of the target vehicle on that side, and determining a first residual execution torque transmitted to each electric wheel motor on that side of the target vehicle based on a second difference between the first additional torque and the first residual torque available sum; Calculating a second residual execution torque transmitted to each electric wheel brake caliper of the target vehicle based on the first additional torque includes: For each side of the target vehicle, calculating a second residual torque sum available torque corresponding to the electric wheel brake caliper in front of each electric wheel of the target vehicle on that side, and determining a second residual execution torque transmitted to each electric wheel brake caliper on that side of the target vehicle based on a third difference between the first additional torque and the first residual available torque sum and the second residual available torque sum; The second additional torque executed by each electric wheel of the target vehicle includes a third additional torque executed by the motor of each electric wheel of the target vehicle and a fourth additional torque executed by the brake caliper of each electric wheel of the target vehicle; The method of calculating the second additional torque executed by each electric wheel of the target vehicle according to the remaining execution torque of each electric wheel of the target vehicle and the remaining torque available torque includes: Determine a smaller value between a first remaining available torque of each electric wheel motor of the target vehicle and a first remaining executed torque transmitted to the electric wheel as a third additional torque executed by each electric wheel motor of the target vehicle; A smaller value between the remaining available braking torque of each electric wheel brake caliper of the target vehicle and the second remaining execution torque transmitted to the electric wheel brake caliper is determined as a fourth additional torque executed by each electric wheel brake caliper of the target vehicle.

6. The torque calculation method of a distributed electric vehicle according to claim 1, characterized in that: The target torque of each electric wheel includes a first target torque output by the motor of each electric wheel and a target braking torque output by the brake caliper; The calculating the target torque of each electric wheel based on the second additional torque of each electric wheel of the target vehicle and the driver's intended torque includes: calculating a first target torque output by each electric wheel motor based on a third additional torque executed by each electric wheel motor of the target vehicle and the driver's intended driving torque; The target braking torque output by each electric wheel brake caliper is calculated based on the fourth additional torque executed by each electric wheel brake caliper per target vehicle and the driver's intended braking torque.

7. A torque calculation device for a distributed electric vehicle, characterized in that: include: a torque amplitude calculation module, configured to obtain an additional yaw torque of the target vehicle and calculate torque amplitudes distributed to the left and right sides of the target vehicle based on the additional yaw torque; a residual torque available torque calculation module, configured to calculate the residual torque available torque of each electric wheel of the target vehicle respectively, and calculate the sum of the residual torques available on the left and right sides of the target vehicle respectively based on the residual torque available torque and the direction of the additional yaw torque; a first additional torque calculation module, configured to calculate a first additional torque executed on the left and right sides of the target vehicle based on the torque amplitudes allocated to the left and right sides of the target vehicle and the sum of the remaining torques respectively available on the left and right sides of the target vehicle; a second additional torque calculation module, configured to calculate a remaining execution torque transmitted to each electric wheel of the target vehicle based on the first additional torque executed on the left and right sides of the target vehicle, and calculate a second additional torque executed by each electric wheel of the target vehicle according to the remaining execution torque of each electric wheel of the target vehicle and the remaining torque available; a target torque calculation module, configured to calculate a target torque for each electric wheel of the target vehicle based on the second additional torque of each electric wheel and the driver's intended torque; The remaining available torque of each electric wheel of the target vehicle includes the first remaining available torque of each electric wheel motor and the remaining available braking torque of each electric wheel brake caliper; The method of calculating the available remaining torque of each electric wheel of the target vehicle includes: determining an available torque of each electric wheel motor and a driver's intended driving torque, and calculating a first remaining available torque of each electric wheel motor of the target vehicle based on the available torque and the driver's intended driving torque; The available braking torque and the driver's intended braking torque of each electric wheel brake caliper are determined, and the remaining available braking torque of each electric wheel brake caliper of the target vehicle is calculated based on the available braking torque and the driver's intended braking torque.

8. An electronic device, characterized in that: It includes a memory and a processor, wherein the memory is used to store a program; the processor is coupled to the memory and is used to execute the program stored in the memory to implement the steps in the torque calculation method of the distributed electric vehicle as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that Used to store computer-readable programs or instructions, which, when executed by a processor, can implement the steps in the torque calculation method for a distributed electric vehicle as described in any one of claims 1 to 6.

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