Vehicle driving torque control method, system, related device and vehicle

Abstract

The present invention provides a vehicle driving torque control method, system, computer-readable storage medium, computer equipment and vehicle, wherein the method includes the following steps: determining the total driving torque according to the stroke of the driver's accelerator pedal, and dividing the total driving torque into a theoretical front axle driving torque and a theoretical rear axle driving torque; obtaining the minimum torque in the first torque group as the maximum front axle driving torque, and obtaining the minimum torque in the second torque group as the maximum rear axle driving torque; limiting the theoretical front axle driving torque according to the maximum front axle driving torque, and limiting the theoretical rear axle driving torque according to the maximum rear axle driving torque, so as to obtain the actual front axle driving torque and the actual rear axle driving torque that are finally output.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle drive control, and in particular to a vehicle drive torque control method, a vehicle drive torque control system, a computer-readable storage medium, a computer device, and a vehicle. Background Art

[0002] When the vehicle is driven sideways, that is, when the load on the left and right sides of the vehicle is unevenly distributed while driving, load transfer occurs on the left and right sides of the vehicle, resulting in different vertical loads on the tires on both sides, thereby making the maximum adhesion limits that the left and right tires can provide different; at the same time, due to the presence of an open differential between the left and right wheels, the output torque of the left and right half-axles is equal, and the wheel speed on the side with smaller vertical load will be greater than the wheel speed on the side with larger vertical load, resulting in a wheel speed difference between the left and right tires.

[0003] When a vehicle is driven at its lateral limits on a low-adhesion surface, such as a racetrack, if the motor torque output exceeds the adhesion limit of the tire with less vertical load, this tire may slip. If the traction control system is disabled or inoperative, the speed differential between the left and right tires can increase rapidly, causing severe tire slip and potentially damaging the differential, impacting vehicle safety and handling stability.

[0004] For this operating condition, the commonly used control method for vehicles is to reduce the wheel speed difference by braking on one side of the wheel to protect the differential. However, this may cause problems such as excessive wear of the brake pads and brake thermal decay, thereby increasing vehicle use costs and reducing driving safety. Summary of the Invention

[0005] One aspect of the present invention is to solve the technical problem of how to reduce the wheel speed difference and thus prevent damage to the differential when the vehicle is driving sideways without affecting the performance of the braking system.

[0006] In addition, other aspects of the present invention are also intended to solve or alleviate other technical problems existing in the prior art.

[0007] The present invention provides a vehicle driving torque control method, system, computer-readable storage medium, computer device, and vehicle. Specifically, according to one aspect of the present invention, it provides:

[0008] A vehicle driving torque control method, comprising the following steps:

[0009] The total driving torque is determined according to the distance the driver steps on the accelerator pedal, and the total driving torque is divided into a theoretical front axle driving torque and a theoretical rear axle driving torque;

[0010] Obtaining the minimum torque in the first torque group as the maximum front axle driving torque, and obtaining the minimum torque in the second torque group as the maximum rear axle driving torque;

[0011] limiting the theoretical front axle drive torque according to the maximum front axle drive torque, and limiting the theoretical rear axle drive torque according to the maximum rear axle drive torque, so as to obtain actual front axle drive torque and actual rear axle drive torque that are ultimately output;

[0012] The first torque group includes at least a front axle differential limiting torque associated with the front wheel speed difference, and the second torque group includes at least a rear axle differential limiting torque associated with the rear wheel speed difference.

[0013] Optionally, according to an embodiment of the present invention, limiting the theoretical front axle driving torque and the theoretical rear axle driving torque includes the following steps:

[0014] comparing the theoretical front axle drive torque and the maximum front axle drive torque, and taking the smaller value as the actual front axle drive torque;

[0015] The theoretical rear axle drive torque and the maximum rear axle drive torque are compared, and the smaller value is taken as the actual rear axle drive torque.

[0016] Optionally, according to an embodiment of the present invention, the front axle differential limiting torque is a front axle differential maximum torque obtained according to the front wheel speed difference and a preset front wheel torque limiting reference curve;

[0017] The rear axle differential limit torque is the maximum torque of the rear axle differential obtained according to the rear wheel speed difference and a preset rear wheel torque limit reference curve;

[0018] The front wheel torque limit reference curve is associated with the life of the front axle differential, and the rear wheel torque limit reference curve is associated with the life of the rear axle differential.

[0019] Optionally, according to an embodiment of the present invention, the front axle differential limit torque is obtained by adjusting the front axle differential maximum torque according to a first calibration adjustment parameter;

[0020] The rear axle differential is obtained by adjusting the maximum torque of the rear axle differential according to the second calibration adjustment parameter;

[0021] The first calibration adjustment parameter and the second calibration adjustment parameter are associated with a current operating condition of the vehicle.

[0022] Optionally, according to one embodiment of the present invention, when the vehicle is in an abnormal steering state, the first torque group also includes a vehicle abnormal steering state limiting torque, and the vehicle abnormal steering state limiting torque is an understeering limiting torque or an oversteering limiting torque according to the abnormal steering state of the vehicle.

[0023] Optionally, according to an embodiment of the present invention, the vehicle steering state limiting torque is obtained through the following steps:

[0024] When the vehicle is in an abnormal steering state, determining whether the vehicle is understeering or oversteering;

[0025] When the vehicle is understeering, the understeering limit torque is obtained by looking up the table based on the difference between the actual steering wheel angle at the current moment and the steady-state steering wheel angle;

[0026] When the vehicle is in oversteering, the oversteering limit torque is obtained by looking up the table according to the difference between the ideal yaw rate and the actual yaw rate at the current moment.

[0027] Optionally, according to one embodiment of the present invention, the first torque group also includes the maximum driving torque of the front axle motor, and the maximum driving torque of the front axle motor is obtained by looking up the external characteristic curve of the front axle motor; the second torque group also includes the maximum driving torque of the rear axle motor, and the maximum driving torque of the rear axle motor is obtained by looking up the external characteristic curve of the rear axle motor.

[0028] According to another aspect of the present invention, the present invention provides a vehicle driving torque control system for executing the vehicle driving torque control method described above, wherein the system comprises:

[0029] Distribution module: determines the total driving torque based on the driver's accelerator pedal stroke and divides the total driving torque into the theoretical front axle driving torque and the theoretical rear axle driving torque;

[0030] A calculation module: obtaining a first torque group and calculating the minimum torque in the first torque group as the maximum front axle driving torque; obtaining a second torque group and calculating the minimum torque in the second torque group as the maximum rear axle driving torque;

[0031] a comparison module: limiting the theoretical front axle driving torque and the theoretical rear axle driving torque according to the maximum front axle driving torque and the maximum rear axle driving torque, and outputting an actual front axle driving torque and an actual rear axle driving torque;

[0032] The first torque group includes a front axle differential limiting torque, which is related to the front wheel speed difference; the second torque group includes a rear axle differential limiting torque, which is related to the rear wheel speed difference.

[0033] According to yet another aspect of the present invention, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the above-mentioned vehicle driving torque control method when executed by a processor.

[0034] According to another aspect of the present invention, the present invention provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned vehicle driving torque control method when executing the computer program.

[0035] According to yet another aspect of the present invention, the present invention provides a vehicle, wherein the vehicle includes the vehicle driving torque control system described above.

[0036] The benefits of this invention include adjusting the speed differential by limiting the driving torque, eliminating the need for single-wheel braking and thus preserving braking system performance. This driving torque limitation takes into account the maximum torque the differential can withstand under varying wheel speed differentials, torque limits under abnormal steering conditions, and the maximum torque of the motor, thereby improving the safety and handling stability of high-power electric vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The above and other features of the present invention will become apparent with reference to the accompanying drawings, in which:

[0038] Figure 1 A schematic flow chart of a vehicle driving torque control method according to an embodiment of the present invention is shown;

[0039] Figure 2 A schematic structural diagram of a vehicle driving torque control system according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0040] It is easy to understand that according to the technical solution of the present invention, without changing the essential spirit of the present invention, a person skilled in the art can propose a variety of interchangeable structural modes and implementation modes. Therefore, the following specific embodiments and drawings are only exemplary descriptions of the technical solution of the present invention and should not be regarded as the entire invention or as a limitation or restriction of the technical solution of the present invention.

[0041] The terms "up," "down," "left," "right," "front," "back," "front," "back," "top," and "bottom" mentioned or potentially mentioned in this specification are defined relative to the structures shown in the accompanying drawings. They are relative concepts and may vary depending on their location or usage. Therefore, these or other directional terms should not be interpreted as restrictive. In addition, the terms "first," "second," "third," and similar expressions are used only for descriptive and distinguishing purposes and should not be understood to indicate or imply the relative importance of the corresponding components.

[0042] refer to Figure 1 , which shows a flow chart of a vehicle driving torque control method according to one embodiment of the present invention. The vehicle driving torque control method of the present invention comprises the following steps:

[0043] The total driving torque is determined according to the distance the driver steps on the accelerator pedal, and the total driving torque is divided into a theoretical front axle driving torque and a theoretical rear axle driving torque;

[0044] Obtaining a first torque group and calculating the minimum torque in the first torque group as the maximum front axle driving torque, obtaining a second torque group and calculating the minimum torque in the second torque group as the maximum rear axle driving torque;

[0045] limiting the theoretical front axle drive torque and the theoretical rear axle drive torque according to the maximum front axle drive torque and the maximum rear axle drive torque to obtain the actual front axle drive torque and the actual rear axle drive torque that are ultimately output;

[0046] The first torque group includes a front axle differential limiting torque, which is related to the front wheel speed difference; the second torque group includes a rear axle differential limiting torque, which is related to the rear wheel speed difference.

[0047] The vehicle drive torque control method of the present invention uses extreme value, especially maximum value, limiting method to limit the driving torque of the vehicle's front and rear axles. This method is particularly suitable for electric vehicles with motors on both the front and rear axles. First, based on the accelerator pedal signal provided by the driver, the total driving torque required by the vehicle is determined, and then the total driving torque is distributed to the front and rear axles to obtain the front and rear axle driving torque. This step is performed by the distribution module in the driving force control system. The distributed front and rear axle driving force is only the theoretical front and rear axle driving torque, and not the actual front and rear axle driving torque that is ultimately output.

[0048] The maximum front and rear axle driving torques used to limit the theoretical front and rear axle driving torques are determined by calculating the minimum torque in the torque set. Here, the torques included in the torque set are all limiting torques for the driving torque; that is, the driving torque should not exceed any torque included in the torque set. By finding the minimum torque in the torque set and using it to limit the driving torque, multiple influencing factors can be comprehensively considered, including the motor, steering characteristics, and differential. For the front axle, a first torque set is first obtained. The torques in the first torque set are the limiting torques associated with the front axle driving torque. The minimum torque in the first torque set is then calculated as the maximum front axle driving torque. For the rear axle, a second torque set is first obtained, containing the limiting torques associated with the rear axle driving torque. The minimum torque in the second torque set is then calculated as the maximum rear axle driving torque. The first torque set includes the front axle differential limiting torque, which is related to the front wheel speed difference or a function of the absolute value of the front wheel speed difference. The second torque set includes the rear axle differential limiting torque, which is related to the rear wheel speed difference or a function of the absolute value of the rear wheel speed difference.

[0049] In one embodiment of the present invention, after determining the maximum front and rear axle drive torques, the theoretical front axle drive torque is compared with the maximum front axle drive torque, and the theoretical rear axle drive torque is compared with the maximum rear axle drive torque. The smaller of these values ​​is used as the actual front axle drive torque and the actual rear axle drive torque, respectively. Using the smaller value in the torque set as the maximum limit on the drive torque ensures that the drive torque does not exceed any torque in the torque set, thereby satisfying all torque limits in the torque set.

[0050] In one embodiment of the present invention, the front axle differential torque limit is the maximum torque of the front axle differential obtained based on the front wheel speed difference and a preset front wheel torque limit reference curve. The rear axle differential torque limit is the maximum torque of the rear axle differential obtained based on the rear wheel speed difference and a preset rear wheel torque limit reference curve. The front wheel torque limit reference curve is obtained through bench testing based on the durability requirements and service life of the vehicle and differential, and its input is the front wheel speed difference Δn. F The absolute value of the front axle differential is the maximum torque T dF , that is, the front axle differential is subjected to different front wheel speed differences Δn under the conditions of the vehicle and the durability requirements of the front axle differential. F The maximum torque that can be carried. The rear wheel torque limit reference curve is obtained through bench testing based on the durability requirements and service life of the vehicle and the rear axle differential. Its input is the rear wheel speed difference Δn R The absolute value of the rear axle differential torque T dR , that is, the rear axle differential is subjected to different rear wheel speed differences Δn under the conditions of the vehicle and the durability requirements of the rear axle differential. R The maximum torque that can be carried.

[0051] In one embodiment of the present invention, the front axle differential limiting torque is obtained by adjusting the maximum torque of the front axle differential according to the first calibration adjustment parameter; the rear axle differential limiting torque is obtained by adjusting the maximum torque of the rear axle differential according to the second calibration adjustment parameter; the first calibration adjustment parameter K1 and the second calibration adjustment parameter K2 are associated with the current operating conditions of the vehicle.

[0052] In one embodiment of the present invention, the first calibration adjustment parameter K1 corresponds to the maximum torque T of the front axle differential under different vehicle operating conditions. dF The ratio to be adjusted, that is, the correction ratio of the front wheel torque limit reference curve to the vehicle's current operating conditions, is used to adjust the maximum torque of the front wheel differential to meet endurance requirements based on the vehicle's actual performance. By varying the value of K1, the maximum torque limit of the vehicle's front axle differential can be adjusted for different road surfaces and operating conditions. K1 is also obtained through bench testing under simulated conditions. The principle behind the second calibration adjustment parameter K2 is similar to that of the first calibration adjustment parameter K1, and will not be further elaborated here.

[0053] Through the above-mentioned torque limitation method, the maximum torque of the differential can be determined according to different speed differences and the driving torque can be limited therethrough. This can prevent the wheel speed difference from being too large or the torque borne by the differential from being too large, and prevent the differential from being damaged due to excessive speed difference and torque. In addition, by introducing calibration adjustment parameters, the maximum torque of the differential can be limited for different working conditions, thereby protecting the differential under different working conditions.

[0054] In one embodiment of the present invention, the front axle differential torque limit is the product of the front axle differential maximum torque and a first calibrated adjustment parameter, and the rear axle differential torque limit is the product of the rear axle differential maximum torque and a second calibrated adjustment parameter. Of course, the method for adjusting the differential maximum torque using calibrated adjustment parameters is not limited to the product method; other calculation or limiting methods may also be used.

[0055] In one embodiment of the present invention, when the vehicle is in an abnormal steering state, the first torque group further includes a vehicle abnormal steering state limiting torque, which is an understeering limiting torque T according to the abnormal steering state of the vehicle. uslim Or oversteering limit torque T oslim When the vehicle is in an abnormal steering state, i.e., understeering or oversteering, the vehicle can compensate for these two abnormal steering states by adjusting the driving torque, thereby improving the vehicle's handling stability. uslim Or oversteering limit torque T oslimThe maximum driving torque that can be achieved to compensate for the abnormal steering state during understeer or oversteer. If the vehicle's driving torque exceeds the understeer limit torque or oversteer limit torque, the abnormal steering state may be exacerbated, affecting the vehicle's handling stability. Therefore, limiting the driving torque by using the abnormal steering state limit torque can take into account the vehicle's steering characteristics when adjusting the driving torque, thereby improving the vehicle's handling stability during steering.

[0056] The vehicle steering state limit torque is obtained through the following steps:

[0057] When the vehicle is in an abnormal steering state, determining whether the vehicle is understeering or oversteering;

[0058] When the vehicle is understeering, the understeering limit torque T is obtained by looking up the table based on the difference between the actual steering wheel angle at the current moment and the steady-state steering wheel angle. uslim ;

[0059] When the vehicle is in oversteering, the oversteering limit torque T is obtained by looking up the table based on the difference between the ideal yaw rate and the actual yaw rate at the current moment. oslim .

[0060] In one embodiment of the present invention, the first torque group also includes the maximum driving torque T of the front axle motor. Fmlim , the second torque group also includes the maximum driving torque of the rear axle motor T Rmlim The maximum driving torque T of the front axle motor Fmlim and the maximum driving torque of the rear axle motor T Rmlim To limit the torque distributed to the front and rear axles. The maximum driving torque of the front axle motor is T Fmlim and the maximum driving torque of the rear axle motor T Rmlim The torques are obtained by looking up the external characteristic curves of the front and rear axle motors, respectively. This ensures that the driving torques of the front and rear axles do not exceed the maximum driving torques of the motors, thus preventing the motors from being damaged due to overload.

[0061] The second aspect of the present invention also provides a vehicle driving torque control system. Figure 2 , which shows a schematic structural diagram of a vehicle driving torque control system 100 proposed according to an embodiment of the present invention. The system 100 includes:

[0062] Distribution module 1: determines the total driving torque based on the driver's accelerator pedal stroke and divides the total driving torque into a theoretical front axle driving torque and a theoretical rear axle driving torque;

[0063] Calculation module 2: obtains a first torque group and calculates the minimum torque in the first torque group as the maximum front axle driving torque, obtains a second torque group and calculates the minimum torque in the second torque group as the maximum rear axle driving torque;

[0064] Comparison module 3: limits the theoretical front axle driving torque and the theoretical rear axle driving torque according to the maximum front axle driving torque and the maximum rear axle driving torque, and outputs an actual front axle driving torque and an actual rear axle driving torque;

[0065] The first torque group includes a front axle differential limiting torque, which is related to the front wheel speed difference; the second torque group includes a rear axle differential limiting torque, which is related to the rear wheel speed difference.

[0066] In one embodiment of the present invention, the comparison module 3 compares the theoretical front axle drive torque and the maximum front axle drive torque, and takes the smaller value as the actual front axle drive torque; the comparison module compares the theoretical rear axle drive torque and the maximum rear axle drive torque, and takes the smaller value as the actual rear axle drive torque.

[0067] In one embodiment of the present invention, the front axle differential limiting torque is the product of the front axle differential maximum torque obtained by looking up the front wheel torque limiting reference curve through the front wheel speed difference and the first calibration adjustment parameter of the torque limiting reference curve, and the rear axle differential limiting torque is the product of the rear axle differential maximum torque obtained by looking up the rear wheel torque limiting reference curve through the rear wheel speed difference and the second calibration adjustment parameter of the torque limiting reference curve.

[0068] In one embodiment of the present invention, when the vehicle is in an abnormal steering state, the first torque group also includes a vehicle abnormal steering state limiting torque, and the vehicle abnormal steering state limiting torque is an understeering limiting torque or an oversteering limiting torque according to the abnormal steering state of the vehicle.

[0069] In one embodiment of the present invention, the calculation module 2 calculates the vehicle steering state limit torque through the following steps:

[0070] When the vehicle is in an abnormal steering state, determining whether the vehicle is understeering or oversteering;

[0071] When the vehicle is understeering, the understeering limit torque is obtained by looking up the table based on the difference between the actual steering wheel angle at the current moment and the steady-state steering wheel angle;

[0072] When the vehicle is in oversteering, the oversteering limit torque is obtained by looking up the table according to the difference between the ideal yaw rate and the actual yaw rate at the current moment.

[0073] In one embodiment of the present invention, the first torque group also includes the maximum driving torque of the front axle motor, and the calculation module obtains the maximum driving torque of the front axle motor by looking up the external characteristic curve of the front axle motor. The second torque group also includes the maximum driving torque of the rear axle motor, and the calculation module obtains the maximum driving torque of the rear axle motor by looking up the external characteristic curve of the rear axle motor.

[0074] In the description of the present invention, control modules such as "allocation module" and "computing module" may include hardware, software or a combination of the two. A module may include hardware circuits, various suitable sensors, communication ports, and memories, and may also include software components such as program codes, or may be a combination of software and hardware. The processor may be a central processing unit, a microprocessor, an image processor, a digital signal processor, or any other suitable processor. The processor has data and / or signal processing functions. The processor may be implemented in software, hardware, or a combination of the two. Non-transitory computer-readable storage media include any suitable media that can store program codes, such as magnetic disks, hard disks, optical disks, flash memory, read-only memory, random access memory, and the like.

[0075] Furthermore, it should be understood that since the setting of the control module is only for illustrating the functional units in the system corresponding to the vehicle drive torque control method of the present invention, the physical device corresponding to the control module can be the processor itself, or a part of the software in the processor, a part of the hardware, or a part of the combination of software and hardware. Therefore, the number of control modules is one is only schematic. It can be understood by those skilled in the art that the control module can be adaptively split according to actual conditions. The specific splitting form of the control module will not cause the technical solution to deviate from the principle of the present invention. Therefore, the technical solutions after splitting will fall within the scope of protection of the present invention.

[0076] A third aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the vehicle driving torque control method described above when executed by a processor.

[0077] It can be understood that the computer-readable storage medium has all the technical effects of the aforementioned vehicle driving torque control method, which will not be repeated here.

[0078] A fourth aspect of the present invention provides a computer device comprising a memory and a processor, wherein the memory is adapted to store a plurality of program codes, and the program codes are adapted to be loaded and run by the processor to execute the aforementioned vehicle drive torque control method.

[0079] It is understood that the computer device has all the technical effects of the aforementioned vehicle driving torque control method, which will not be described in detail herein. The computer device may include a control device formed by various electronic devices.

[0080] Those skilled in the art will appreciate that all or part of the process steps in the vehicle drive torque control method of the present invention can be implemented by instructing related hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When executed by a processor, the computer program can implement the steps of each of the above-described method embodiments. The computer program includes computer program code, which, as will be understood, includes but is not limited to program code for executing the above-described vehicle drive torque control method. For ease of illustration, only portions relevant to the present invention are shown. The computer program code can be in source code form, object code form, an executable file, or some intermediate form. The computer-readable storage medium can include any entity or device, medium, USB flash drive, removable hard drive, magnetic disk, optical disk, computer memory, read-only memory, random access memory, electric carrier signals, telecommunication signals, and software distribution media capable of carrying the computer program code. It should be noted that the content of the computer-readable storage medium may be appropriately expanded or reduced based on the requirements of legislation and patent practice within a jurisdiction. For example, in some jurisdictions, legislation and patent practice do not require that computer-readable storage media include electric carrier signals and telecommunication signals.

[0081] A fifth aspect of the present invention provides a vehicle comprising the vehicle drive torque control system described above.

[0082] It should be understood that the vehicle driving torque control system of the present invention can be installed on various vehicles, including cars, trucks, buses, hybrid vehicles, pure electric vehicles, etc. Therefore, the subject matter of the present invention is also intended to protect various vehicles equipped with the vehicle driving torque control system of the present invention.

[0083] It should be understood that all the above preferred embodiments are illustrative rather than restrictive, and various modifications or variations made by those skilled in the art to the specific embodiments described above under the concept of the present invention should be within the legal protection scope of the present invention.

Claims

1. A vehicle driving torque control method, characterized in that: The process includes the following steps: The total driving torque is determined according to the distance the driver steps on the accelerator pedal, and the total driving torque is divided into a theoretical front axle driving torque and a theoretical rear axle driving torque; Obtaining the minimum torque in the first torque group as the maximum front axle driving torque, and obtaining the minimum torque in the second torque group as the maximum rear axle driving torque; limiting the theoretical front axle drive torque according to the maximum front axle drive torque, and limiting the theoretical rear axle drive torque according to the maximum rear axle drive torque, so as to obtain actual front axle drive torque and actual rear axle drive torque that are ultimately output; The first torque group includes at least a front axle differential limiting torque associated with the front wheel speed difference, and the second torque group includes at least a rear axle differential limiting torque associated with the rear wheel speed difference; The limiting of the theoretical front axle drive torque and the theoretical rear axle drive torque includes the following steps: comparing the theoretical front axle drive torque and the maximum front axle drive torque, and taking the smaller value as the actual front axle drive torque; comparing the theoretical rear axle drive torque and the maximum rear axle drive torque, and taking the smaller value as the actual rear axle drive torque; The front axle differential limiting torque is a maximum torque of the front axle differential obtained according to the front wheel speed difference and a preset front wheel torque limiting reference curve; The rear axle differential limit torque is the maximum torque of the rear axle differential obtained according to the rear wheel speed difference and a preset rear wheel torque limit reference curve; The front wheel torque limit reference curve is associated with the life of the front axle differential, and the rear wheel torque limit reference curve is associated with the life of the rear axle differential.

2. The vehicle driving torque control method according to claim 1, characterized in that: The front axle differential limit torque is obtained by adjusting the front axle differential maximum torque according to the first calibration adjustment parameter; The rear axle differential is obtained by adjusting the maximum torque of the rear axle differential according to the second calibration adjustment parameter; in The first calibration adjustment parameter and the second calibration adjustment parameter are associated with a current operating condition of the vehicle.

3. The vehicle driving torque control method according to claim 1, characterized in that: When the vehicle is in an abnormal steering state, the first torque group further includes a vehicle abnormal steering state limiting torque, and the vehicle abnormal steering state limiting torque is an understeering limiting torque or an oversteering limiting torque according to the abnormal steering state of the vehicle.

4. The vehicle driving torque control method according to claim 3, characterized in that: The vehicle steering state limiting torque is obtained by the following steps: When the vehicle is in an abnormal steering state, determining whether the vehicle is understeering or oversteering; When the vehicle is understeering, the understeering limit torque is obtained by looking up the table based on the difference between the actual steering wheel angle at the current moment and the steady-state steering wheel angle; When the vehicle is in oversteering, the oversteering limit torque is obtained by looking up the table according to the difference between the ideal yaw rate and the actual yaw rate at the current moment.

5. The vehicle driving torque control method according to claim 1, characterized in that: The first torque group also includes the maximum driving torque of the front axle motor, which is obtained by looking up the external characteristic curve of the front axle motor. The second torque group also includes the maximum driving torque of the rear axle motor, which is obtained by looking up the external characteristic curve of the rear axle motor.

6. A vehicle driving torque control system (100), for executing the vehicle driving torque control method according to any one of claims 1 to 5, characterized in that: The system comprises: Distribution module (1): determining the total driving torque according to the driver's accelerator pedal stroke, and dividing the total driving torque into a theoretical front axle driving torque and a theoretical rear axle driving torque; Calculation module (2): obtains a first torque group and calculates the minimum torque in the first torque group as the maximum front axle driving torque, obtains a second torque group and calculates the minimum torque in the second torque group as the maximum rear axle driving torque; Comparison module (3): limits the theoretical front axle driving torque and the theoretical rear axle driving torque according to the maximum front axle driving torque and the maximum rear axle driving torque, and outputs the actual front axle driving torque and the actual rear axle driving torque; The first torque group includes a front axle differential limiting torque, which is related to the front wheel speed difference; the second torque group includes a rear axle differential limiting torque, which is related to the rear wheel speed difference; The limiting of the theoretical front axle drive torque and the theoretical rear axle drive torque includes the following steps: comparing the theoretical front axle drive torque and the maximum front axle drive torque, and taking the smaller value as the actual front axle drive torque; comparing the theoretical rear axle drive torque and the maximum rear axle drive torque, and taking the smaller value as the actual rear axle drive torque; The front axle differential limiting torque is a maximum torque of the front axle differential obtained according to the front wheel speed difference and a preset front wheel torque limiting reference curve; The rear axle differential limit torque is the maximum torque of the rear axle differential obtained according to the rear wheel speed difference and a preset rear wheel torque limit reference curve; The front wheel torque limit reference curve is associated with the life of the front axle differential, and the rear wheel torque limit reference curve is associated with the life of the rear axle differential.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the vehicle driving torque control method according to any one of claims 1 to 5 is implemented.

8. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the vehicle driving torque control method according to any one of claims 1 to 5 is implemented.

9. A vehicle, characterized in that: The vehicle includes a vehicle driving torque control system (100) according to claim 6.

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