Vehicle energy recovery torque distribution method, device, electronic device and storage medium

Abstract

The present disclosure relates to a vehicle energy recovery torque distribution method, device, electronic device and storage medium, including: obtaining the actual yaw angular velocity of the vehicle during driving; determining a first distribution parameter of the front and rear axle torque according to the actual yaw angular velocity, the first distribution parameter being a stability distribution parameter of the front and rear axle torque of the vehicle, that is, adjusting the first distribution parameter of the front and rear axle torque of the vehicle according to the yaw angular velocity of the vehicle during actual driving to ensure the safety of the vehicle.

Description

Technical Field

[0001] The present disclosure relates to the field of intelligent control technology, and in particular to a vehicle energy recovery torque distribution method, device, electronic device and storage medium. Background Art

[0002] New energy vehicles can achieve energy recovery during vehicle deceleration and braking through the energy recovery system. The specific recovery method is to switch the motor to power generation mode when the vehicle is decelerating and braking. While assisting in braking, the motor converts energy into electrical energy and stores it in the battery to improve the energy utilization efficiency of the entire vehicle and increase the vehicle's mileage. Because the above energy recovery method involves the operation of the braking system, energy recovery must be carried out on the basis of ensuring vehicle stability. This requires a reasonable electric vehicle braking energy recovery system and its control method to manage the recovery process. For four-wheel drive vehicles, how to reasonably distribute the front and rear axle torque of the vehicle and ensure vehicle stability is a technical problem that urgently needs to be solved by four-wheel drive new energy vehicles.

[0003] In the prior art, the energy recovery torque and distribution method of four-wheel drive new energy vehicles is based on a fixed front-rear torque distribution ratio for torque distribution. However, the fixed front-rear torque distribution ratio cannot guarantee the stability of the vehicle posture, and the safety of the entire vehicle is poor. Summary of the invention

[0004] In order to solve the above technical problems or at least partially solve the above technical problems, the present disclosure provides a vehicle energy recovery torque distribution method, device, electronic device and storage medium to improve the stability of the vehicle while ensuring the economy of vehicle energy recovery.

[0005] In a first aspect, an embodiment of the present disclosure provides a vehicle energy recovery torque distribution method, comprising:

[0006] Acquiring an actual yaw angular velocity of the vehicle during driving;

[0007] A first distribution parameter of the front and rear axle torque is determined according to the actual yaw angular velocity, where the first distribution parameter is a stability distribution parameter of the front and rear axle torque of the vehicle.

[0008] Optionally, before determining the first distribution parameter of the front and rear axle torques according to the actual yaw angular velocity, the method further includes:

[0009] Determining a target yaw rate of the vehicle, a maximum yaw rate of the vehicle, and a first initial distribution parameter of front and rear axle torques of the vehicle;

[0010] Determining the first distribution parameter of the front and rear axle torques according to the actual yaw angular velocity includes:

[0011] The first initial distribution parameter is corrected according to the relationship between the actual yaw rate and the target yaw rate, or the relationship between the actual yaw rate and the maximum yaw rate, to obtain the first distribution parameter.

[0012] Optionally, determining the target yaw rate of the vehicle, the maximum yaw rate of the vehicle, and the first initial distribution parameter of the front and rear axle torques of the vehicle includes:

[0013] Obtaining the steering wheel angle, wheelbase, track width, actual deceleration, actual lateral acceleration, actual vehicle speed and road adhesion coefficient of the vehicle;

[0014] Determining a target yaw rate of the vehicle according to the steering wheel angle, the wheelbase, the track width, and the actual vehicle speed;

[0015] determining the maximum yaw rate according to the road adhesion coefficient;

[0016] A first initial distribution parameter of the front and rear axle torque of the vehicle is determined according to the actual yaw rate, the actual deceleration, the actual lateral acceleration, and the actual vehicle speed.

[0017] Optionally, it is characterized by:

[0018] The determining the target yaw rate of the vehicle according to the steering wheel angle, the wheelbase, the track width and the actual vehicle speed comprises:

[0019] determining an initial yaw rate according to the steering wheel angle, the wheelbase, the track width and the actual vehicle speed;

[0020] obtaining an initial yaw rate correction parameter according to the actual vehicle speed and the characteristic vehicle speed, wherein the characteristic vehicle speed is the vehicle speed at which the vehicle responds to the control action;

[0021] determining a target yaw rate of the vehicle according to the initial yaw rate and the initial yaw rate correction parameter;

[0022] The determining of a first initial distribution parameter of the front and rear axle torque of the vehicle according to the actual yaw rate, the actual deceleration, the actual lateral acceleration and the actual vehicle speed comprises:

[0023] determining a first sub-initial distribution parameter of the front and rear axle torques of the vehicle according to the actual yaw rate and the actual deceleration;

[0024] determining a second sub-initial distribution parameter of the front and rear axle torque of the vehicle according to the actual lateral acceleration and the actual vehicle speed;

[0025] The first initial allocation parameter is determined according to the first sub-initial allocation parameter and the second sub-initial allocation parameter.

[0026] Optionally, the method further includes:

[0027] Acquiring road conditions, driving conditions, actual vehicle speed, and torque request of the vehicle during driving;

[0028] Determining a second distribution parameter of the front and rear axle torque according to the actual vehicle speed and the torque request, wherein the second distribution parameter is an economic distribution parameter of the front and rear axle torque of the vehicle;

[0029] determining a first fusion parameter corresponding to the first distribution parameter according to the road condition and the driving condition;

[0030] The front and rear axle torque distribution parameters of the vehicle are determined according to the first fusion parameter, the first distribution parameter and the second distribution parameter.

[0031] Optionally, the first distribution parameter includes a first front axle torque distribution parameter and a first rear axle torque distribution parameter, and the second distribution parameter includes a second front axle torque distribution parameter and a second rear axle torque distribution parameter;

[0032] The determining the front and rear axle torque distribution parameters of the vehicle according to the first fusion parameter, the first distribution parameter, and the second distribution parameter includes:

[0033] Determining, according to the first fusion parameter, a second fusion parameter corresponding to the second allocation parameter;

[0034] determining a front axle torque distribution parameter of the vehicle according to the first fusion parameter, the first front axle torque distribution parameter, the second fusion parameter, and the second front axle torque distribution parameter;

[0035] A rear axle torque distribution parameter of the vehicle is determined according to the first fusion parameter, the first rear axle torque distribution parameter, the second fusion parameter, and the second rear axle torque distribution parameter.

[0036] Optionally, before obtaining the road condition, driving condition, actual vehicle speed and torque request of the vehicle during driving, the method further includes:

[0037] The driving condition is determined according to an actual yaw rate of the vehicle, an actual longitudinal acceleration of the vehicle, an actual lateral acceleration of the vehicle and an actual vehicle speed.

[0038] In a second aspect, an embodiment of the present disclosure provides a vehicle energy recovery torque distribution device, comprising:

[0039] An information acquisition module, used to acquire the actual yaw angular velocity of the vehicle during driving;

[0040] A first distribution parameter determination module is used to determine a first distribution parameter of the front and rear axle torque according to the actual yaw angular velocity, wherein the first distribution parameter is a stability distribution parameter of the front and rear axle torque of the vehicle.

[0041] In a third aspect, an embodiment of the present disclosure provides an electronic device, including:

[0042] one or more processors;

[0043] a storage device for storing one or more programs,

[0044] When the one or more programs are executed by the one or more processors, the one or more processors implement any method as described in the first aspect.

[0045] In a fourth aspect, an embodiment of the present disclosure provides a computer storage medium having a computer program stored thereon, which, when executed by a processor, implements any method described in the first aspect.

[0046] Compared with the prior art, the technical solution provided by the embodiments of the present disclosure has the following advantages:

[0047] The vehicle energy recovery torque distribution method, device, electronic device and storage medium provided in the embodiments of the present disclosure first obtain the actual yaw angular velocity of the vehicle during driving, and then determine the first distribution parameters of the front and rear axle torque of the vehicle according to the actual yaw angular velocity of the vehicle. Since the first distribution parameters of the front and rear axle torque are determined based on the actual yaw angular velocity of the vehicle, the first distribution parameters of the front and rear axle torque of the vehicle can be adjusted according to the yaw angular velocity of the vehicle during actual driving to ensure the safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0049] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0050] Figure 1 is a flow chart of a vehicle energy recovery torque distribution method provided by an embodiment of the present disclosure;

[0051] Figure 2is a flow chart of another vehicle energy recovery torque distribution method provided by an embodiment of the present disclosure;

[0052] Figure 3 is a flow chart of another vehicle energy recovery torque distribution method provided by an embodiment of the present disclosure;

[0053] Figure 4 is a flow chart of another vehicle energy recovery torque distribution method provided by an embodiment of the present disclosure;

[0054] Figure 5 is a flow chart of another vehicle energy recovery torque distribution method provided by an embodiment of the present disclosure;

[0055] Figure 6 is a structural schematic diagram of a vehicle energy recovery torque distribution device provided by an embodiment of the present disclosure;

[0056] Figure 7 It is a structural schematic diagram of an electronic device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0057] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0058] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0059] Based on the problems existing in the prior art, the embodiment of the present disclosure provides a vehicle energy recovery torque distribution method, which can be applied to a terminal device, which can be a distribution device specifically used to distribute the vehicle energy recovery torque situation, or can be executed by a terminal device of an existing vehicle, wherein the terminal device of the vehicle can be, for example, a vehicle-mounted main control module. The technical solution of the present disclosure is described in detail with several specific embodiments below.

[0060] Figure 1 A schematic diagram of a vehicle energy recovery torque distribution method provided by the present disclosure, such as Figure 1 As shown, the method of this embodiment is as follows:

[0061] S10: Acquire the actual yaw angular velocity of the vehicle during driving.

[0062] The actual yaw rate of the vehicle is determined based on the yaw rate of the vehicle acquired by the vehicle sensor.

[0063] S30. Determine a first distribution parameter of the front and rear axle torques according to the actual yaw angular velocity, where the first distribution parameter is a stability distribution parameter of the front and rear axle torques of the vehicle.

[0064] The first distribution parameter of the front and rear axle torque refers to the distribution parameter of the engine torque value to the front and rear axles of the vehicle based on the vehicle stability during the vehicle braking process. For example, if the first distribution parameter of the front and rear axle torque is (0.3, 0.7), the engine torque value of the vehicle during the braking process is 200, then the torque value distributed to the front axle of the vehicle is 60, and the torque value of the rear axle of the vehicle after the distribution is 140.

[0065] That is, in the vehicle energy recovery torque distribution method provided in the embodiment of the present disclosure, in the process of distributing the vehicle energy recovery torque, the front and rear axle torques of the vehicle are distributed based on a first distribution parameter, and the first distribution parameter is a stability distribution parameter of the front and rear axle torques of the vehicle. When the vehicle recovers energy during braking, the front and rear axle torques are distributed based on the actual yaw angular velocity of the vehicle during driving. Energy recovery is performed on the basis of ensuring the stability of the vehicle, thereby ensuring the safety of the vehicle.

[0066] The vehicle energy recovery torque distribution method provided by the embodiment of the present disclosure first obtains the actual yaw angular velocity of the vehicle during driving, and then determines the first distribution parameters of the front and rear axle torques of the vehicle according to the actual yaw angular velocity of the vehicle. Since the first distribution parameters of the front and rear axle torques are determined based on the actual yaw angular velocity of the vehicle, the first distribution parameters of the front and rear axle torques of the vehicle can be adjusted according to the yaw angular velocity of the vehicle during actual driving to ensure the safety of the vehicle.

[0067] Figure 2 is a flow chart of another vehicle energy recovery torque distribution method provided by an embodiment of the present disclosure. The embodiment of the present disclosure is based on the above embodiment. Figure 2 As shown, before step S30, the following steps are also included:

[0068] S20: Determine a target yaw rate of the vehicle, a maximum yaw rate of the vehicle, and a first initial distribution parameter of front and rear axle torques of the vehicle.

[0069] As an implementation method, optionally, Figure 3 As shown, a specific implementation method of step S20 includes:

[0070] S201. Obtain the steering wheel angle, wheelbase, track width, actual deceleration, actual lateral acceleration, actual vehicle speed and road adhesion coefficient of the vehicle.

[0071] First, obtain the vehicle's steering wheel angle, wheelbase, track width, actual deceleration, actual lateral acceleration, actual vehicle speed and road adhesion coefficient and other parameters.

[0072] Among them, the steering wheel angle of the vehicle is the angle corresponding to the user turning the steering wheel while the vehicle is driving, the wheelbase of the vehicle refers to the distance between the midpoints of two adjacent wheels on the same side and two perpendicular lines perpendicular to the longitudinal symmetry plane of the vehicle, the wheelbase of the vehicle refers to the distance between the center lines of the tracks left by the vehicle wheels on the vehicle support plane (generally the ground), the actual deceleration refers to the deceleration of the vehicle collected by the sensor, the actual lateral acceleration refers to the vehicle speed collected by the sensor, the actual lateral acceleration refers to the acceleration in the vertical direction of movement of the vehicle collected by the sensor, and the road adhesion coefficient refers to the adhesion ability of the vehicle tires on different road surfaces.

[0073] S202: Determine a target yaw rate of the vehicle according to the steering wheel angle, the wheelbase, the track width, and the actual vehicle speed.

[0074] The target yaw rate of the vehicle is determined according to the steering wheel angle, wheelbase, track width and actual vehicle speed, including:

[0075] The initial yaw rate is determined according to the steering wheel angle, the wheelbase, the track width and the actual vehicle speed; the initial yaw rate correction parameter is obtained according to the actual vehicle speed and the characteristic vehicle speed; and the target yaw rate of the vehicle is determined according to the initial yaw rate and the initial yaw rate correction parameter.

[0076] First, the initial yaw rate of the vehicle is determined based on the relationship between the steering wheel angle, wheelbase and track width. Specifically, the minimum radius is determined based on the steering wheel angle, wheelbase and track width:

[0077]

[0078] Among them, L is the wheelbase, K is the track width, is the steering wheel angle, is the minimum radius.

[0079] Then the initial yaw rate is determined based on the relationship between the minimum radius, the initial yaw rate, and the actual vehicle speed:

[0080]

[0081] Among them, VeSpd is the actual vehicle speed, and Yaw-Rate is the initial yaw angular velocity.

[0082] The initial yaw rate correction parameter is obtained according to the actual vehicle speed and the characteristic vehicle speed.

[0083] Among them, the actual vehicle speed can be obtained based on the vehicle sensor collection, and the characteristic vehicle speed is the corresponding vehicle speed when the vehicle responds normally to the driver's control action.

[0084] After determining the actual vehicle speed and the characteristic vehicle speed, an initial yaw rate correction parameter is determined based on the ratio of the actual vehicle speed to the characteristic vehicle speed, and then the target yaw rate of the vehicle is determined by multiplying the initial yaw rate and the initial yaw rate correction parameter.

[0085] S203: Determine the maximum yaw angular velocity according to the road adhesion coefficient.

[0086] Different road adhesion coefficients correspond to different maximum yaw angular velocity. By looking up the relationship table between the road adhesion coefficient and the maximum yaw angular velocity, based on the obtained road adhesion coefficient, the maximum yaw angular velocity corresponding to the obtained road adhesion coefficient is found from the relationship table between the road adhesion coefficient and the maximum yaw angular velocity.

[0087] S204: Determine a first initial distribution parameter of the front and rear axle torques of the vehicle according to the actual yaw rate, the actual deceleration, the actual lateral acceleration, and the actual vehicle speed.

[0088] A first initial distribution parameter of the front and rear axle torque of a vehicle is determined according to the actual yaw rate, the actual deceleration, the actual lateral acceleration and the actual vehicle speed, including: determining a first sub-initial distribution parameter of the front and rear axle torque of the vehicle according to the actual yaw rate and the actual deceleration; determining a second sub-initial distribution parameter of the front and rear axle torque of the vehicle according to the actual lateral acceleration and the actual vehicle speed; and determining the first initial distribution parameter according to the first sub-initial distribution parameter and the second sub-initial distribution parameter.

[0089] Specifically, during the actual operation of the vehicle, the actual yaw rate, actual deceleration, actual lateral acceleration and actual vehicle speed of the vehicle can be obtained in real time. By obtaining the actual yaw rate, actual deceleration, actual lateral acceleration and actual vehicle speed and other parameters during the operation of the vehicle, by looking up the association table of the actual yaw rate of the vehicle, the actual deceleration of the vehicle and the front and rear axle torque distribution of the vehicle (the association table is a known table created by the user based on historical data), the first sub-initial distribution parameter of the front and rear axle torque of the vehicle corresponding to the current actual yaw rate and actual deceleration is determined. In addition, by looking up the association table of the actual lateral acceleration, actual vehicle speed and the front and rear axle torque distribution of the vehicle, the second sub-initial distribution parameter of the front and rear axle torque of the vehicle corresponding to the current actual lateral acceleration and actual speed is determined, and then the first initial distribution parameter and the second initial distribution parameter are merged to obtain the first initial distribution parameter.

[0090] In a specific implementation, the first initial allocation parameter and the second initial allocation parameter may be subjected to a product operation to achieve fusion of the first initial allocation parameter and the second initial allocation parameter.

[0091] When the vehicle energy recovery torque distribution method includes step S20, a specific implementation of step S30 includes:

[0092] S301 . According to a relationship between an actual yaw rate and a target yaw rate, or a relationship between an actual yaw rate and a maximum yaw rate, a first initial distribution parameter is modified to obtain a first distribution parameter.

[0093] After the actual yaw rate, the target yaw rate and the maximum yaw rate of the vehicle are obtained, the first initial distribution parameter is corrected according to the relationship between the actual yaw rate and the target yaw rate to obtain the first distribution parameter, or the first initial distribution parameter is corrected according to the relationship between the actual yaw rate and the maximum yaw rate to obtain the first distribution parameter.

[0094] Specifically, when the actual yaw rate of the vehicle is less than the target yaw rate or the maximum yaw rate of the vehicle, the actual yaw rate of the vehicle is increased by correcting the first initial distribution parameter; when the actual yaw rate of the vehicle is greater than the target yaw rate or the maximum yaw rate of the vehicle, the actual yaw rate of the vehicle is reduced by correcting the first initial distribution parameter; and by correcting the actual yaw rate of the vehicle, the stability of the vehicle is ensured.

[0095] It should be noted that, in the above embodiments, the first initial allocation parameter is corrected based on the relationship between the actual yaw rate and the target yaw rate, or the relationship between the actual yaw rate and the maximum yaw rate to obtain the first allocation parameter. In a specific implementation, the first initial allocation parameter can also be corrected based on the relationship between the actual yaw rate and the target yaw rate and the relationship between the actual yaw rate and the maximum yaw rate to obtain the first allocation parameter, thereby ensuring the stability of the vehicle.

[0096] Figure 4 is a flow chart of another method for distributing vehicle energy recovery torque provided by an embodiment of the present disclosure. The embodiment of the present disclosure is based on the above embodiment. Figure 4 As shown, the vehicle energy recovery torque distribution method also includes:

[0097] S40: Obtaining road conditions, driving conditions, actual vehicle speed, and torque request of the vehicle during driving.

[0098] Among them, the actual vehicle speed can be acquired based on the vehicle's speed sensor, the torque request can be confirmed based on the vehicle's throttle opening, the road conditions include high-adhesion road conditions, snowy road conditions and icy road conditions, etc., and the driving conditions include curved conditions and uniform speed conditions, among which the curved conditions include large steering conditions and small steering conditions, and the uniform speed conditions include strong deceleration conditions and weak deceleration conditions.

[0099] S50: Determine a second distribution parameter of the front and rear axle torques according to the actual vehicle speed and the torque request, where the second distribution parameter is an economical distribution parameter of the front and rear axle torques of the vehicle.

[0100] After obtaining the actual vehicle speed and torque request, the distribution parameters of the front and rear axle torque corresponding to the actual vehicle speed and the distribution parameters of the front and rear axle torque corresponding to the torque request are respectively searched from the vehicle energy recovery torque distribution efficiency table, and then the second distribution parameters are determined based on the searched distribution parameters of the front and rear axle torque corresponding to the actual vehicle speed and the distribution parameters of the front and rear axle torque corresponding to the torque request.

[0101] The second distribution parameter of the front and rear axle torque refers to the distribution parameter of the engine torque value to the front and rear axles of the vehicle based on the vehicle economy during the vehicle braking process. For example, if the second distribution parameter of the front and rear axle torque is (0.3, 0.7), the engine torque value of the vehicle during the braking process is 200, then the torque value distributed to the front axle of the vehicle is 60, and the torque value of the rear axle of the vehicle after distribution is 140.

[0102] In a specific implementation, after respectively searching the distribution parameters of the front and rear axle torque corresponding to the actual vehicle speed and the distribution parameters of the front and rear axle torque corresponding to the torque request from the vehicle energy recovery torque distribution efficiency table, the distribution parameters of the front and rear axle torque with the best torque distribution efficiency can be selected as the second distribution parameters. For example, if the torque distribution efficiency corresponding to the actual vehicle speed is the best, the distribution parameters of the front and rear axle torque corresponding to the actual vehicle speed in the vehicle energy recovery torque distribution efficiency table are selected as the second distribution parameters. If the torque distribution efficiency corresponding to the torque request is the best, the distribution parameters of the front and rear axle torque corresponding to the torque request in the vehicle energy recovery torque distribution efficiency table are selected as the second distribution parameters.

[0103] In other possible implementations, the second distribution parameter can also be determined by weighting the distribution parameters of the front and rear axle torque corresponding to the actual vehicle speed and the front and rear axle torque corresponding to the torque request found in the vehicle energy recovery torque distribution efficiency table. At this time, the weighted value corresponding to the distribution parameter of the front and rear axle torque corresponding to the actual vehicle speed and the weighted value corresponding to the distribution parameter of the front and rear axle torque corresponding to the torque request are related to the torque distribution efficiency in the torque distribution efficiency table. For example, if the torque distribution efficiency corresponding to the actual vehicle speed in the distribution efficiency table is better than the torque distribution efficiency corresponding to the torque request in the distribution efficiency table, then the weighted value corresponding to the distribution parameter of the front and rear axle torque corresponding to the actual vehicle speed is greater than the weighted value corresponding to the distribution parameter of the front and rear axle torque corresponding to the torque request. For example, the weighted value corresponding to the distribution parameter of the front and rear axle torque corresponding to the actual vehicle speed is set to 0.7, and the weighted value corresponding to the distribution parameter of the front and rear axle torque is set to 0.3. The embodiments of the present disclosure do not specifically limit this.

[0104] S60: Determine a first fusion parameter corresponding to the first distribution parameter according to the road condition and the driving condition.

[0105] The first fusion parameter refers to the fusion coefficient corresponding to the fusion of the first distribution parameter and the second distribution parameter when, in the vehicle energy recovery torque distribution method, both the stability factor and the economy factor of the vehicle are considered, the front and rear axle torque of the vehicle is distributed based on the first distribution parameter, and the front and rear axle torque of the vehicle is distributed based on the second distribution parameter.

[0106] S70. Determine front and rear axle torque distribution parameters of the vehicle according to the first fusion parameter, the first distribution parameter, and the second distribution parameter.

[0107] Specifically, the front and rear axle torque distribution parameters of the vehicle are determined according to the first fusion parameter, the first distribution parameter and the second distribution parameter, including: determining the second fusion parameter corresponding to the second distribution parameter according to the first fusion parameter; determining the front axle torque distribution parameter of the vehicle according to the first fusion parameter, the first front axle torque distribution parameter, the second fusion parameter and the second front axle torque distribution parameter; determining the rear axle torque distribution parameter of the vehicle according to the first fusion parameter, the first rear axle torque distribution parameter, the second fusion parameter and the second rear axle torque distribution parameter.

[0108] The second fusion parameter corresponding to the second distribution parameter is determined by the first fusion parameter, and then the first fusion parameter and the first distribution parameter are multiplied, and the second fusion parameter and the second distribution parameter are multiplied. Based on the product result of the first fusion parameter and the first distribution parameter and the product result of the second fusion parameter and the second distribution parameter, the front and rear axle torque distribution parameters of the vehicle are determined.

[0109] Exemplarily, if the first fusion parameter is a1, the second fusion parameter corresponding to the second distribution parameter is (1-a1), the first distribution parameter is (0.3, 0.7), and the second distribution parameter is (0.4, 0.6), then the determined front and rear axle torque distribution parameters of the vehicle are a1(0.3, 0.7)+(1-a1)(0.4, 0.6), wherein the front axle torque distribution parameter of the vehicle is 0.3a1+0.4(1-a1), and the rear axle torque distribution parameter of the vehicle is 0.7a1+0.6(1-a1).

[0110] The vehicle energy recovery torque distribution method provided by the embodiment of the present disclosure distributes the vehicle energy recovery torque. In the process of distributing the vehicle energy recovery torque, the vehicle energy recovery torque is distributed based on stability considerations and a first distribution parameter is determined. The vehicle energy recovery torque is distributed based on economy considerations and a second distribution parameter is determined. Then, the first distribution parameter and the second distribution parameter are fused through a first fusion parameter. That is, in the vehicle energy recovery torque distribution method, the economy of the vehicle is considered on the one hand, and the stability of the vehicle is considered on the other hand. While ensuring the economy of vehicle energy recovery in the process of distributing the vehicle energy recovery torque, the stability of the vehicle is improved.

[0111] Figure 5 is a flow chart of another vehicle energy recovery torque distribution method provided by an embodiment of the present disclosure. Figure 4 Based on the corresponding embodiments, Figure 5 As shown, the vehicle energy recovery torque distribution method also includes:

[0112] S31. Determine a driving condition according to an actual yaw rate of the vehicle, an actual longitudinal acceleration of the vehicle, an actual lateral acceleration of the vehicle, and an actual vehicle speed.

[0113] Driving conditions include curve conditions and constant speed conditions.

[0114] Specifically, the vehicle's cornering condition is determined based on the relationship between the vehicle's actual yaw rate and the vehicle's actual longitudinal acceleration, and the vehicle's uniform speed condition is determined based on the relationship between the vehicle's actual lateral acceleration and the vehicle's actual speed.

[0115] Figure 6 A vehicle energy recovery torque distribution device provided by an embodiment of the present disclosure includes:

[0116] The information acquisition module 610 is used to obtain the actual yaw rate of the vehicle during driving;

[0117] The first distribution parameter determination module 620 is used to determine the first distribution parameter of the front and rear axle torque according to the actual yaw angular velocity, and the first distribution parameter is a stability distribution parameter of the front and rear axle torque of the vehicle.

[0118] The vehicle energy recovery torque distribution device provided in the embodiment of the present disclosure first obtains the actual yaw angular velocity of the vehicle during driving, and then determines the first distribution parameters of the front and rear axle torques of the vehicle according to the actual yaw angular velocity of the vehicle. Since the first distribution parameters of the front and rear axle torques are determined based on the actual yaw angular velocity of the vehicle, the first distribution parameters of the front and rear axle torques of the vehicle can be adjusted according to the yaw angular velocity of the vehicle during actual driving to ensure the safety of the vehicle.

[0119] As an implementable method, optionally, it further includes:

[0120] A first initial distribution parameter determination module, used to determine a target yaw rate of the vehicle, a maximum yaw rate of the vehicle, and a first initial distribution parameter of the front and rear axle torques of the vehicle;

[0121] At this time, the specific implementation of the first allocation parameter determination module includes:

[0122] The first initial distribution parameter is corrected according to the relationship between the actual yaw rate and the target yaw rate, or the relationship between the actual yaw rate and the maximum yaw rate to obtain the first distribution parameter.

[0123] As an implementable method, optionally, the first initial allocation parameter determination module includes:

[0124] A vehicle parameter acquisition unit, used to acquire the vehicle's steering wheel angle, wheelbase, track width, actual deceleration, actual lateral acceleration, actual vehicle speed and road adhesion coefficient;

[0125] a target yaw rate determination unit, used to determine a target yaw rate of the vehicle according to a steering wheel angle, a wheelbase, a track width and an actual vehicle speed;

[0126] a maximum yaw rate determination unit, used for determining the maximum yaw rate according to the road adhesion coefficient;

[0127] The first initial distribution parameter determination unit is used to determine the first initial distribution parameter of the front and rear axle torque of the vehicle according to the actual yaw rate, the actual deceleration, the actual lateral acceleration and the actual vehicle speed.

[0128] As an implementable method, optionally, the specific implementation method of the target yaw angular velocity determination unit includes:

[0129] Determine the initial yaw rate according to the steering wheel angle, wheelbase, track width and actual vehicle speed;

[0130] The initial yaw rate correction parameter is obtained according to the actual vehicle speed and the characteristic vehicle speed, wherein the characteristic vehicle speed is the vehicle speed at which the vehicle responds to the control action;

[0131] determining a target yaw rate of the vehicle according to an initial yaw rate and an initial yaw rate correction parameter;

[0132] The specific implementation of the first initial allocation parameter determination unit includes:

[0133] Determine a first sub-initial distribution parameter of the front and rear axle torque of the vehicle according to the actual yaw rate and the actual deceleration;

[0134] determining a second sub-initial distribution parameter of the front and rear axle torque of the vehicle according to the actual lateral acceleration and the actual vehicle speed;

[0135] The first initial allocation parameter is determined according to the first sub-initial allocation parameter and the second sub-initial allocation parameter.

[0136] As an implementable method, optionally, it further includes:

[0137] A working condition acquisition module is used to obtain the road working condition, driving working condition, actual vehicle speed and torque request of the vehicle during driving;

[0138] A second distribution parameter determination module, used to determine a second distribution parameter of the front and rear axle torque according to the actual vehicle speed and the torque request, the second distribution parameter being an economic distribution parameter of the front and rear axle torque of the vehicle;

[0139] A fusion parameter determination module, used to determine a first fusion parameter corresponding to the first distribution parameter according to a road condition and a driving condition;

[0140] The torque distribution parameter determination module is used to determine the front and rear axle torque distribution parameters of the vehicle according to the first fusion parameter, the first distribution parameter and the second distribution parameter.

[0141] As an implementable method, optionally, the torque parameter determination module may be specifically implemented as follows:

[0142] Determining, according to the first fusion parameter, a second fusion parameter corresponding to the second allocation parameter;

[0143] Determining a front axle torque distribution parameter of the vehicle according to the first fusion parameter, the first front axle torque distribution parameter, the second fusion parameter, and the second front axle torque distribution parameter;

[0144] A rear axle torque distribution parameter of the vehicle is determined according to the first fusion parameter, the first rear axle torque distribution parameter, the second fusion parameter, and the second rear axle torque distribution parameter.

[0145] As an implementable method, optionally, it further includes:

[0146] The driving condition determination module is used to determine the driving condition according to the actual yaw rate of the vehicle, the actual longitudinal acceleration of the vehicle, the actual lateral acceleration of the vehicle and the actual vehicle speed.

[0147] The device provided by the embodiment of the present invention can execute the method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0148] It is worth noting that in the embodiment of the above-mentioned device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0149] The present disclosure further provides an electronic device, comprising: a processor, wherein the processor is configured to execute a computer program stored in a memory, wherein the computer program implements the steps of the above method embodiment when executed by the processor.

[0150] Figure 7 A schematic diagram of the structure of an electronic device provided by the present disclosure is shown in FIG. Figure 7 A block diagram of an exemplary electronic device suitable for implementing an exemplary embodiment of the present invention is shown. Figure 7 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0151] like Figure 7 As shown, the electronic device 700 is in the form of a general-purpose computing device. The components of the electronic device 700 may include, but are not limited to: one or more processors 710, a system memory 720, a bus 730 connecting different system components (including the system memory 720 and the processor), an I / O interface 790, and a network adapter 791.

[0152] Bus 730 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. For example, these architectures include but are not limited to Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus and Peripheral Component Interconnect (PCI) bus.

[0153] The electronic device 700 typically includes a variety of computer system readable media. These media can be any media that can be accessed by the electronic device 700, including volatile and non-volatile media, removable and non-removable media.

[0154] The system memory 720 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 740 and / or cache memory 750. The electronic device 700 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 760 may be used to read and write non-removable, non-volatile magnetic media (commonly referred to as "hard drives"). A disk drive for reading and writing removable non-volatile disks (such as "floppy disks"), and an optical disk drive for reading and writing removable non-volatile optical disks (such as CD-ROMs, DVD-ROMs or other optical media) may be provided. In these cases, each drive may be connected to the bus 730 via one or more data medium interfaces. The system memory 720 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the embodiments of the present invention.

[0155] A program / utility 780 having a set (at least one) of program modules 770 may be stored, for example, in system memory 720, such program modules 770 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. Program modules 770 generally perform the functions and / or methods of the embodiments described in the embodiments of the present invention.

[0156] The processor 710 executes various functional applications and information processing by running at least one program among a plurality of programs stored in the system memory 720 , for example, implementing the method embodiment provided by the embodiment of the present invention.

[0157] The present disclosure also provides a computer-readable storage medium having a computer program stored thereon, and the computer program implements the steps of the above method embodiment when executed by a processor.

[0158] Any combination of one or more computer-readable media can be used. Computer-readable media can be computer-readable signal media or computer-readable storage media. Computer-readable storage media can be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: electrical connections with one or more wires, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this document, computer-readable storage media can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0159] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0160] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0161] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN) domain, or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0162] The present disclosure also provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the steps of implementing the above method embodiments.

[0163] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article 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, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0164] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle energy recovery torque distribution method, characterized in that: include: Acquiring an actual yaw angular velocity of the vehicle during driving; Determining a first distribution parameter of the front and rear axle torques according to the actual yaw angular velocity, wherein the first distribution parameter is a stability distribution parameter of the front and rear axle torques of the vehicle; The method further comprises: Acquiring road conditions, driving conditions, actual vehicle speed, and torque request of the vehicle during driving; Determining a second distribution parameter of the front and rear axle torque according to the actual vehicle speed and the torque request, wherein the second distribution parameter is an economic distribution parameter of the front and rear axle torque of the vehicle; determining a first fusion parameter corresponding to the first distribution parameter according to the road condition and the driving condition; The front and rear axle torque distribution parameters of the vehicle are determined according to the first fusion parameter, the first distribution parameter and the second distribution parameter.

2. The method according to claim 1, characterized in that Before determining the first distribution parameter of the front and rear axle torque according to the actual yaw angular velocity, the method further includes: Determining a target yaw rate of the vehicle, a maximum yaw rate of the vehicle, and a first initial distribution parameter of front and rear axle torques of the vehicle; Determining a first distribution parameter of the front and rear axle torques according to the actual yaw angular velocity includes: The first initial distribution parameter is corrected according to the relationship between the actual yaw rate and the target yaw rate, or the relationship between the actual yaw rate and the maximum yaw rate, to obtain the first distribution parameter.

3. The method according to claim 2, characterized in that The determining of the target yaw rate of the vehicle, the maximum yaw rate of the vehicle, and the first initial distribution parameter of the front and rear axle torques of the vehicle comprises: Obtaining the steering wheel angle, wheelbase, track width, actual deceleration, actual lateral acceleration, actual vehicle speed and road adhesion coefficient of the vehicle; Determining a target yaw rate of the vehicle according to the steering wheel angle, the wheelbase, the track width, and the actual vehicle speed; determining the maximum yaw rate according to the road adhesion coefficient; A first initial distribution parameter of the front and rear axle torque of the vehicle is determined according to the actual yaw rate, the actual deceleration, the actual lateral acceleration, and the actual vehicle speed.

4. The method according to claim 3, characterized in that: The determining the target yaw rate of the vehicle according to the steering wheel angle, the wheelbase, the track width and the actual vehicle speed comprises: determining an initial yaw rate according to the steering wheel angle, the wheelbase, the track width and the actual vehicle speed; obtaining an initial yaw rate correction parameter according to the actual vehicle speed and the characteristic vehicle speed, wherein the characteristic vehicle speed is the vehicle speed at which the vehicle responds to the control action; determining a target yaw rate of the vehicle according to the initial yaw rate and the initial yaw rate correction parameter; The determining of a first initial distribution parameter of the front and rear axle torque of the vehicle according to the actual yaw rate, the actual deceleration, the actual lateral acceleration and the actual vehicle speed comprises: determining a first sub-initial distribution parameter of the front and rear axle torques of the vehicle according to the actual yaw rate and the actual deceleration; determining a second sub-initial distribution parameter of the front and rear axle torque of the vehicle according to the actual lateral acceleration and the actual vehicle speed; The first initial allocation parameter is determined according to the first sub-initial allocation parameter and the second sub-initial allocation parameter.

5. The method according to claim 1, characterized in that The first distribution parameter includes a first front axle torque distribution parameter and a first rear axle torque distribution parameter, and the second distribution parameter includes a second front axle torque distribution parameter and a second rear axle torque distribution parameter; The determining the front and rear axle torque distribution parameters of the vehicle according to the first fusion parameter, the first distribution parameter, and the second distribution parameter includes: Determining, according to the first fusion parameter, a second fusion parameter corresponding to the second allocation parameter; determining a front axle torque distribution parameter of the vehicle according to the first fusion parameter, the first front axle torque distribution parameter, the second fusion parameter, and the second front axle torque distribution parameter; A rear axle torque distribution parameter of the vehicle is determined according to the first fusion parameter, the first rear axle torque distribution parameter, the second fusion parameter, and the second rear axle torque distribution parameter.

6. The method according to claim 1, characterized in that Before obtaining the road condition, driving condition, actual vehicle speed and torque request of the vehicle during driving, the method further includes: The driving condition is determined according to an actual yaw rate of the vehicle, an actual longitudinal acceleration of the vehicle, an actual lateral acceleration of the vehicle and an actual vehicle speed.

7. A vehicle energy recovery torque distribution device, characterized in that: include: An information acquisition module, used to acquire the actual yaw angular velocity of the vehicle during driving; A first distribution parameter determination module, used to determine a first distribution parameter of the front and rear axle torque according to the actual yaw angular velocity, wherein the first distribution parameter is a stability distribution parameter of the front and rear axle torque of the vehicle; The device also includes: A working condition acquisition module, used to acquire the road working condition, driving working condition, actual vehicle speed and torque request of the vehicle during driving; A second distribution parameter determination module, configured to determine a second distribution parameter of the front and rear axle torques according to the actual vehicle speed and the torque request, wherein the second distribution parameter is an economic distribution parameter of the front and rear axle torques of the vehicle; a fusion parameter determination module, configured to determine a first fusion parameter corresponding to the first distribution parameter according to the road condition and the driving condition; A torque distribution parameter determination module is used to determine the front and rear axle torque distribution parameters of the vehicle according to the first fusion parameter, the first distribution parameter and the second distribution parameter.

8. An electronic device, characterized in that: include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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