Torque dynamic compensation method and device for four-wheel drive vehicle, vehicle and storage medium

Abstract

The application discloses a torque dynamic compensation method and device for a four-wheel drive vehicle, a vehicle and a storage medium. The method comprises the following steps: determining that the vehicle is in an accelerating driving state; acquiring a first requested torque and an actual torque corresponding to each power source of the vehicle in the accelerating driving state, wherein the power source comprises an engine, a front axle power generation motor, a front axle driving motor and a rear axle driving motor; and compensating the torque of at least one power source according to the first requested torque and the actual torque, so as to output a second requested torque corresponding to each power source. The method compensates from inside to outside in turn from the nearest parts or levels, can improve the torque response accuracy and drivability of the vehicle in the process of accelerating the vehicle, and improves the driving experience.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a method, device, vehicle, and storage medium for dynamic torque compensation of a four-wheel drive vehicle. Background Technology

[0002] Hybrid electric vehicles operate in a hybrid mode, requiring power sources such as an engine and front and rear axle drive motors to propel the vehicle. Inaccurate torque output from these power sources can severely impact vehicle performance and acceleration smoothness. Therefore, improving the accuracy of torque response and drivability through torque compensation is a crucial problem that needs to be solved. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. Therefore, the object of the present invention is to provide a method, device, vehicle, and storage medium for dynamic torque compensation of a four-wheel drive vehicle.

[0004] The present invention proposes a method for dynamic torque compensation of a four-wheel drive vehicle, comprising: determining that the vehicle is in an accelerating state; in the accelerating state, acquiring a first requested torque and an actual torque corresponding to each power source of the vehicle, wherein the power source includes an engine, a front axle generator motor, a front axle drive motor, and a rear axle drive motor; and compensating the torque of at least one of the power sources according to the first requested torque and the actual torque to output a second requested torque corresponding to each of the power sources.

[0005] In addition, the torque dynamic compensation method for four-wheel drive vehicles according to embodiments of the present invention may also have the following additional technical features:

[0006] Further, based on the first requested torque and the actual torque, the torque of at least one of the power sources is compensated to output a second requested torque corresponding to each of the power sources, including: determining whether the actual torque of the engine is less than the first requested torque corresponding to the engine; when it is determined that the actual torque of the engine is less than the first requested torque corresponding to the engine, calculating a first compensation torque and outputting the second requested torque corresponding to the front axle generator motor, so as to compensate the engine for torque through the front axle generator motor, wherein the first compensation torque is the difference between the first requested torque corresponding to the engine and the actual torque of the engine.

[0007] Furthermore, the method further includes: when the second requested torque corresponding to the front axle generator motor is greater than the upper limit of the available torque of the front axle generator motor, calculating the second compensation torque and outputting the second requested torque corresponding to the front axle drive motor, so as to compensate the front axle generator motor for torque through the front axle drive motor, wherein the second compensation torque is the difference between the second requested torque corresponding to the front axle generator motor and the upper limit of the available torque of the front axle generator motor.

[0008] Furthermore, the method further includes: when it is determined that the actual torque of the engine is not less than the first requested torque corresponding to the engine, determining whether the actual torque of the crankshaft is less than the requested torque of the crankshaft; when it is determined that the actual torque of the crankshaft is less than the requested torque of the crankshaft, calculating a third compensation torque and outputting a second requested torque corresponding to the front axle drive motor, so as to compensate the crankshaft for torque through the front axle drive motor, wherein the third compensation torque is the difference between the requested torque of the crankshaft and the actual torque of the crankshaft.

[0009] Furthermore, the method further includes: when the second requested torque corresponding to the front axle drive motor is greater than the upper limit of the available torque of the front axle drive motor, calculating a fourth compensation torque and outputting the second requested torque corresponding to the rear axle drive motor, so as to compensate the torque of the front axle drive motor through the rear axle drive motor, wherein the fourth compensation torque is the difference between the second requested torque corresponding to the front axle drive motor and the upper limit of the available torque of the front axle drive motor.

[0010] Furthermore, the method further includes: when it is determined that the actual torque of the crankshaft is not less than the requested torque of the crankshaft, determining whether the actual torque of the front axle is less than the requested torque of the front axle; when it is determined that the actual torque of the front axle is less than the requested torque of the front axle, calculating a fifth compensation torque and outputting a second requested torque corresponding to the rear axle drive motor, so as to compensate the front axle for torque through the rear axle drive motor, wherein the fifth compensation torque is the difference between the requested torque of the front axle and the actual torque of the front axle.

[0011] Furthermore, the method further includes: the requested torque of the crankshaft is the sum of the first requested torque of the engine and the first requested torque of the front axle generator motor, and the actual torque of the crankshaft is the sum of the actual torque of the engine and the actual torque of the front axle generator motor; the requested torque of the front axle is the sum of the requested torque of the crankshaft and the first requested torque of the front axle drive motor, and the actual torque of the front axle is the sum of the actual torque of the crankshaft and the actual torque of the front axle drive motor.

[0012] According to the torque dynamic compensation method for four-wheel drive vehicles of the present invention, by obtaining the first requested torque and actual torque corresponding to each power source of the vehicle, and compensating sequentially from the inside out from the nearest component or level based on the first requested torque and actual torque, the torque response accuracy and drivability of the vehicle can be improved during vehicle acceleration, thereby enhancing the driving experience.

[0013] To address the aforementioned problems, this invention also proposes a torque dynamic compensation device for a four-wheel drive vehicle, comprising: a determining module for determining that the vehicle is in an accelerating state; an acquiring module for acquiring, in the accelerating state, a first requested torque and an actual torque corresponding to each power source of the vehicle, wherein the power source includes an engine, a front axle generator motor, a front axle drive motor, and a rear axle drive motor; and a compensation module for compensating the torque of at least one of the power sources based on the first requested torque and the actual torque, to output a second requested torque corresponding to each of the power sources.

[0014] According to an embodiment of the present invention, the torque dynamic compensation device for a four-wheel drive vehicle obtains the first requested torque and the actual torque corresponding to each power source of the vehicle, and performs compensation sequentially from the inside out from the nearest component or level based on the first requested torque and the actual torque. This can improve the torque response accuracy and drivability of the vehicle during acceleration, thereby enhancing the driving experience.

[0015] To address the aforementioned problems, the present invention also proposes a vehicle comprising: a torque dynamic compensation device for a four-wheel drive vehicle as described in any of the above embodiments.

[0016] According to the vehicle of the present invention, by acquiring the first requested torque and actual torque corresponding to each power source of the vehicle, and by compensating sequentially from the inside out from the nearest component or level based on the first requested torque and actual torque, the torque response accuracy and drivability of the vehicle can be improved during vehicle acceleration, thereby enhancing the driving experience.

[0017] To address the aforementioned problems, the present invention also proposes a computer-readable storage medium storing a torque dynamic compensation program for a four-wheel drive vehicle. When the torque dynamic compensation program for the four-wheel drive vehicle is executed by a processor, it implements the torque dynamic compensation method for a four-wheel drive vehicle as described in any of the above embodiments.

[0018] According to an embodiment of the present invention, when a processor executes a torque dynamic compensation program for a four-wheel drive vehicle stored on a computer-readable storage medium, the program obtains the first requested torque and the actual torque corresponding to each power source of the vehicle, and performs compensation sequentially from the nearest component or level outward based on the first requested torque and the actual torque. This can improve the torque response accuracy and drivability of the vehicle during acceleration, thereby enhancing the driving experience.

[0019] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0021] Figure 1 This is a schematic diagram of the hybrid power architecture of a four-wheel drive vehicle according to an embodiment of the present invention;

[0022] Figure 2 This is a flowchart of a torque dynamic compensation method for a four-wheel drive vehicle according to an embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of the hybrid power architecture of a four-wheel drive vehicle according to another embodiment of the present invention;

[0024] Figure 4 This is a schematic diagram of the structure of a torque dynamic compensation device for a four-wheel drive vehicle according to an embodiment of the present invention. Detailed Implementation

[0025] The embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present invention are described in detail below.

[0026] First, combine Figure 1 This invention describes the hybrid power architecture of a four-wheel drive vehicle according to an embodiment of the present invention, such as... Figure 1 As shown, the engine and the front axle generator are connected by a fixed speed ratio, and power is transmitted to the front wheel end through the front axle clutch and a two-speed mechanical structure. The front axle drive motor also transmits power to the front wheel end through a fixed speed ratio. The rear axle drive motor transmits power to the rear wheel end through a two-speed mechanical transmission structure. That is, the power source of the front axle includes the engine, the front axle generator, and the front axle drive motor, and the power source of the rear axle includes the rear axle drive motor.

[0027] The following is for reference. Figures 2-4 A method, apparatus, vehicle, and storage medium for dynamic torque compensation of a four-wheel drive vehicle according to embodiments of the present invention are described.

[0028] Figure 2 This is a flowchart of a torque dynamic compensation method for a four-wheel drive vehicle according to an embodiment of the present invention. Figure 1 As shown, a method for dynamic torque compensation in a four-wheel drive vehicle includes the following steps:

[0029] Step S1: Determine that the vehicle is in an accelerating state.

[0030] In practice, the vehicle's acceleration status can be identified by acquiring the accelerator pedal signal. Specifically, the accelerator pedal signal includes the accelerator pedal active position, the accelerator pedal opening value, and the accelerator pedal opening rate of change. When the accelerator pedal active position is active, and both the accelerator pedal opening value and the accelerator pedal opening rate of change are greater than zero, the vehicle is determined to be accelerating.

[0031] Step S2: In the accelerated driving state, obtain the first requested torque and actual torque corresponding to each power source of the vehicle, wherein the power source includes the engine, the front axle generator motor, the front axle drive motor and the rear axle drive motor.

[0032] Specifically, during vehicle acceleration, the first requested torque corresponding to each power source is calculated based on the torque distribution ratio. This ratio is determined by looking up a table based on the vehicle speed signal, total wheel-end torque demand, and driving mode signal during acceleration. For example, if the total wheel-end torque demand is 100 Nm and the driving mode is automatic, at the moment the accelerator pedal is depressed, the front-to-rear axle torque distribution ratio is, for example, 7:3. Therefore, the first requested torque for the front axle is 70 Nm, and the first requested torque for the rear axle is 30 Nm. That is, the sum of the first requested torques corresponding to the engine, front axle generator, and front axle drive motor is 70 Nm, and the first requested torque for the rear axle drive motor is 30 Nm. Similarly, the first requested torques corresponding to the engine, front axle generator, and front axle drive motor are distributed according to a preset ratio based on the first requested torque of the front axle.

[0033] Step S3: Based on the first requested torque and the actual torque, compensate the torque of at least one of the power sources to output the second requested torque corresponding to each power source.

[0034] Specifically, after calculating the first requested torque of each power source, since there is a deviation between the first requested torque and the actual response torque, torque compensation is required during the actual torque output of each power source. For example, the engine's first requested torque may increase from 0 Nm to 100 Nm in 1 second, while the engine's actual torque may take 3 seconds to increase from 0 Nm to 100 Nm. This indicates a slow engine response and a response deviation, necessitating torque compensation. On the other hand, when the first requested torque of each power source exceeds its available torque limit, i.e., when torque output capability is limited, torque compensation is also required to ensure the accuracy of torque response and drivability during acceleration. Therefore, this embodiment of the invention, by obtaining the first requested torque and actual torque corresponding to each power source of the vehicle, and compensating for the torque of at least one of the power sources based on these values, can improve the torque response accuracy and drivability of the vehicle during acceleration, thereby enhancing the driving experience.

[0035] In one embodiment of the present invention, the torque of at least one power source is compensated based on a first requested torque and an actual torque to output a second requested torque corresponding to each power source, including: determining whether the actual torque of the engine is less than the first requested torque corresponding to the engine; when it is determined that the actual torque of the engine is less than the first requested torque corresponding to the engine, calculating a first compensation torque and outputting a second requested torque corresponding to the front axle generator motor to compensate the engine torque through the front axle generator motor, wherein the first compensation torque is the difference between the first requested torque corresponding to the engine and the actual torque of the engine.

[0036] Specifically, when the engine requires torque compensation, it preferentially uses nearby components on the same level, such as the front axle generator, for torque compensation. In a specific embodiment, such as... Figure 3 As shown, when the driver depresses the accelerator pedal, the total torque demand of the vehicle (i.e., the total torque demanded at the wheel ends) is sequentially transmitted to the front and rear axle layers, then from the front and rear axle layers to the crankshaft layer, and finally from the crankshaft layer to the engine / front axle generator layer. When the engine's first requested torque needs compensation, torque compensation can be performed through the front axle generator. At this time, the second requested torque of the front axle generator is the sum of the first requested torque and the first compensation torque of the front axle generator. This allows for torque compensation of the engine through the front axle generator, improving the vehicle's torque response accuracy and drivability.

[0037] In one embodiment of the present invention, the torque dynamic compensation method for the four-wheel drive vehicle further includes: when the second requested torque corresponding to the front axle generator motor is greater than the upper limit of the available torque of the front axle generator motor, calculating the second compensation torque and outputting the second requested torque corresponding to the front axle drive motor, so as to compensate the generator motor for torque through the front axle drive motor, wherein the second compensation torque is the difference between the second requested torque corresponding to the front axle generator motor and the upper limit of the available torque of the front axle generator motor.

[0038] Specifically, since the front axle generator is used to compensate for the engine's requested torque, when the front axle generator needs torque compensation, torque compensation is preferentially performed through the nearest level, such as the crankshaft level. In a specific embodiment, such as... Figure 3 As shown, when the driver depresses the accelerator pedal, the total torque demand of the vehicle (i.e., the total torque demanded at the wheel ends) is sequentially transmitted to the front and rear axle layers, then from the front and rear axle layers to the crankshaft layer, and finally from the crankshaft layer to the engine / front axle generator layer. When the first requested torque of the front axle generator needs compensation, torque compensation can be performed through the front axle drive motor in the crankshaft layer. At this time, the second requested torque of the front axle drive motor is the sum of the first requested torque and the second compensated torque of the front axle drive motor. This allows for torque compensation of the front axle generator motor through the front axle drive motor, improving the vehicle's torque response accuracy and drivability.

[0039] Therefore, the torque dynamic compensation method for four-wheel drive vehicles in this embodiment of the invention compensates for torque from the nearest component or level outwards when the engine and front axle generator in the engine / front axle generator layer need torque compensation due to response delay or limited capability. This ensures the accuracy of the vehicle's torque response and drivability, and improves the driving experience.

[0040] In one embodiment of the present invention, the torque dynamic compensation method for the four-wheel drive vehicle further includes: when it is determined that the actual torque of the engine is not less than the first requested torque corresponding to the engine, determining whether the actual torque of the crankshaft is less than the requested torque of the crankshaft; when it is determined that the actual torque of the crankshaft is less than the requested torque of the crankshaft, calculating a third compensation torque and outputting a second requested torque corresponding to the front axle drive motor, so as to compensate the crankshaft torque through the front axle drive motor, wherein the third compensation torque is the difference between the requested torque of the crankshaft and the actual torque of the crankshaft. Specifically, the requested torque of the crankshaft is the sum of the first requested torque of the engine and the first requested torque of the front axle generator motor, and the actual torque of the crankshaft is the sum of the actual torque of the engine and the actual torque of the front axle generator motor.

[0041] Specifically, when the engine's actual torque is not less than the engine's corresponding first requested torque, it is considered that torque compensation for the engine via the front axle generator is not required. However, if the crankshaft's actual torque is less than its requested torque, then torque compensation for the crankshaft is necessary. Figure 3As shown, when the driver presses the accelerator pedal, the total torque demand of the vehicle (i.e., the total torque demanded at the wheel ends) is sequentially transmitted to the front and rear axle layers, then from the front and rear axle layers to the crankshaft layer, and finally from the crankshaft layer to the engine / front axle generator layer. When the crankshaft's requested torque needs compensation, torque compensation can be performed through nearby components in the same layer, such as the front axle drive motor in the crankshaft layer. In this case, the second requested torque of the front axle drive motor is the sum of the first requested torque and the third compensation torque of the front axle drive motor. This allows for torque compensation of the crankshaft through the front axle drive motor, improving the vehicle's torque response accuracy and drivability.

[0042] In one embodiment of the present invention, the torque dynamic compensation method for the four-wheel drive vehicle further includes: when the second requested torque corresponding to the front axle drive motor is greater than the upper limit of the available torque of the front axle drive motor, calculating the fourth compensation torque and outputting the second requested torque corresponding to the rear axle drive motor, so as to compensate the torque of the front axle drive motor through the rear axle drive motor, wherein the fourth compensation torque is the difference between the second requested torque corresponding to the front axle drive motor and the upper limit of the available torque of the front axle drive motor.

[0043] Specifically, since the front axle drive motor is used to compensate for the requested torque of the crankshaft or front axle generator, when the front axle drive motor needs torque compensation, it is preferentially compensated through the nearest level, such as the front or rear axle level. For example... Figure 3 As shown, when the driver depresses the accelerator pedal, the total torque demand of the vehicle (i.e., the total torque demanded at the wheel ends) is sequentially transmitted to the front and rear axle layers, then to the crankshaft layer, and finally to the engine / front axle generator layer. When the first requested torque of the front axle drive motor needs compensation, torque compensation is preferentially performed through the rear axle in the front and rear axle layers. Since the rear axle is driven by the rear axle drive motor, torque compensation for the front axle drive motor is performed through the rear axle drive motor. At this time, the second requested torque of the rear axle drive motor is the sum of the first requested torque and the fourth compensation torque of the rear axle drive motor. This allows for torque compensation of the front axle drive motor through the rear axle drive motor, improving the vehicle's torque response accuracy and drivability.

[0044] Therefore, the torque dynamic compensation method for four-wheel drive vehicles in this embodiment of the invention can compensate from the nearest component or level outwards when the crankshaft and front axle drive motor in the crankshaft layer need torque compensation due to response delay or limited capability. This can ensure the torque response accuracy and drivability of the vehicle and improve the driving experience.

[0045] In one embodiment of the present invention, the torque dynamic compensation method for the four-wheel drive vehicle further includes: when it is determined that the actual torque of the crankshaft is not less than the requested torque of the crankshaft, determining whether the actual torque of the front axle is less than the requested torque of the front axle; when it is determined that the actual torque of the front axle is less than the requested torque of the front axle, calculating a fifth compensation torque and outputting a second requested torque corresponding to the rear axle drive motor, so as to compensate the torque of the front axle through the rear axle drive motor, wherein the fifth compensation torque is the difference between the requested torque of the front axle and the actual torque of the front axle. Specifically, the requested torque of the front axle is the sum of the requested torque of the crankshaft and the first requested torque of the front axle drive motor, and the actual torque of the front axle is the sum of the actual torque of the crankshaft and the actual torque of the front axle drive motor.

[0046] Specifically, when the actual torque of the crankshaft is not less than the requested torque of the crankshaft, it is considered that torque compensation of the crankshaft via the front axle starter motor is not required. However, if the actual torque of the front axle is less than the requested torque of the front axle, then torque compensation of the front axle is required. Figure 3 As shown, when the driver depresses the accelerator pedal, the total torque demand of the vehicle (i.e., the total torque demanded at the wheel ends) is sequentially transmitted to the front and rear axle layers, then from the front and rear axle layers to the crankshaft layer, and finally from the crankshaft layer to the engine / front axle generator layer. When the requested torque of the front axle needs compensation, torque compensation can be performed through nearby components in the same layer, such as the rear axle in the front and rear axle layers. Since the rear axle is driven by the rear axle drive motor, torque compensation for the front axle is performed through the rear axle drive motor. At this time, the second requested torque of the rear axle drive motor is the sum of the first requested torque and the fifth compensation torque of the rear axle drive motor. This improves the torque response accuracy and drivability of the vehicle.

[0047] Therefore, the torque dynamic compensation method for four-wheel drive vehicles in this embodiment of the invention can compensate from the nearest component, the rear axle drive motor, when the front axle of the front and rear axle layers needs torque compensation due to response delay or limited capability. This can ensure the torque response accuracy and drivability of the vehicle and improve the driving experience.

[0048] According to the torque dynamic compensation method for four-wheel drive vehicles of the present invention, by obtaining the first requested torque and actual torque corresponding to each power source of the vehicle, and compensating sequentially from the inside out from the nearest component or level based on the first requested torque and actual torque, the torque response accuracy and drivability of the vehicle can be improved during vehicle acceleration, thereby enhancing the driving experience.

[0049] A further embodiment of the present invention discloses a torque dynamic compensation device for a four-wheel drive vehicle. Figure 4 This is a schematic diagram of the structure of a torque dynamic compensation device for a four-wheel drive vehicle according to an embodiment of the present invention, as shown below. Figure 4As shown, the device 10 includes a determining module 11, an acquiring module 12, and a compensation module 13. The determining module 11 determines that the vehicle is in an accelerating state; the acquiring module 12 acquires, during the accelerating state, a first requested torque and an actual torque corresponding to each power source of the vehicle, wherein the power sources include an engine, a front axle generator motor, a front axle drive motor, and a rear axle drive motor; the compensation module 13 compensates for the torque of at least one of the power sources based on the first requested torque and the actual torque, to output a second requested torque corresponding to each power source.

[0050] In one embodiment of the present invention, the compensation module 13 compensates the torque of at least one power source based on the first requested torque and the actual torque to output the second requested torque corresponding to each power source, including: determining whether the actual torque of the engine is less than the first requested torque corresponding to the engine; when it is determined that the actual torque of the engine is less than the first requested torque corresponding to the engine, calculating the first compensation torque and outputting the second requested torque corresponding to the front axle generator motor to compensate the engine torque through the front axle generator motor, wherein the first compensation torque is the difference between the first requested torque corresponding to the engine and the actual torque of the engine.

[0051] In one embodiment of the present invention, the compensation module 13 is specifically used to: calculate the second compensation torque when the second requested torque corresponding to the front axle generator motor is greater than the upper limit of the available torque of the front axle generator motor, and output the second requested torque corresponding to the front axle drive motor, so as to compensate the generator motor for torque through the front axle drive motor, wherein the second compensation torque is the difference between the second requested torque corresponding to the front axle generator motor and the upper limit of the available torque of the front axle generator motor.

[0052] In one embodiment of the present invention, the compensation module 13 is specifically used to: when it is determined that the actual torque of the engine is not less than the first requested torque corresponding to the engine, determine whether the actual torque of the crankshaft is less than the requested torque of the crankshaft; when it is determined that the actual torque of the crankshaft is less than the requested torque of the crankshaft, calculate the third compensation torque and output the second requested torque corresponding to the front axle drive motor, so as to compensate the crankshaft torque through the front axle drive motor, wherein the third compensation torque is the difference between the requested torque of the crankshaft and the actual torque of the crankshaft.

[0053] In one embodiment of the present invention, the compensation module 13 is specifically used to: calculate a fourth compensation torque when the second requested torque corresponding to the front axle drive motor is greater than the upper limit of the available torque of the front axle drive motor, and output the second requested torque corresponding to the rear axle drive motor, so as to compensate the torque of the front axle drive motor through the rear axle drive motor, wherein the fourth compensation torque is the difference between the second requested torque corresponding to the front axle drive motor and the upper limit of the available torque of the front axle drive motor.

[0054] In one embodiment of the present invention, the compensation module 13 is specifically used to: when it is determined that the actual torque of the crankshaft is not less than the requested torque of the crankshaft, determine whether the actual torque of the front axle is less than the requested torque of the front axle; when it is determined that the actual torque of the front axle is less than the requested torque of the front axle, calculate the fifth compensation torque and output the second requested torque corresponding to the rear axle drive motor, so as to compensate the torque of the front axle through the rear axle drive motor, wherein the fifth compensation torque is the difference between the requested torque of the front axle and the actual torque of the front axle.

[0055] In one embodiment of the present invention, the compensation module 13 is specifically configured to: the requested torque of the crankshaft is the sum of the first requested torque of the engine and the first requested torque of the front axle generator motor, and the actual torque of the crankshaft is the sum of the actual torque of the engine and the actual torque of the front axle generator motor; the requested torque of the front axle is the sum of the requested torque of the crankshaft and the first requested torque of the front axle drive motor, and the actual torque of the front axle is the sum of the actual torque of the crankshaft and the actual torque of the front axle drive motor.

[0056] It should be noted that the torque dynamic compensation device 10 for four-wheel drive vehicles in this embodiment of the invention performs torque dynamic compensation in a manner similar to that of the torque dynamic compensation method for four-wheel drive vehicles in this embodiment of the invention. For details, please refer to the description in the method section. To reduce redundancy, it will not be repeated here.

[0057] According to an embodiment of the present invention, the torque dynamic compensation device for a four-wheel drive vehicle obtains the first requested torque and the actual torque corresponding to each power source of the vehicle, and performs compensation sequentially from the inside out from the nearest component or level based on the first requested torque and the actual torque. This can improve the torque response accuracy and drivability of the vehicle during acceleration, thereby enhancing the driving experience.

[0058] Further embodiments of the present invention disclose a vehicle, including a torque dynamic compensation device for a four-wheel drive vehicle as described in any of the above embodiments.

[0059] It should be noted that the specific implementation method of torque dynamic compensation in the vehicle of the present invention embodiment is similar to the specific implementation method of torque dynamic compensation method for four-wheel drive vehicle of the present invention embodiment. For details, please refer to the description in the method section. In order to reduce redundancy, it will not be repeated here.

[0060] According to the vehicle of the present invention, by acquiring the first requested torque and actual torque corresponding to each power source of the vehicle, and by compensating sequentially from the inside out from the nearest component or level based on the first requested torque and actual torque, the torque response accuracy and drivability of the vehicle can be improved during vehicle acceleration, thereby enhancing the driving experience.

[0061] A further embodiment of the present invention discloses a computer-readable storage medium storing a torque dynamic compensation program for a four-wheel drive vehicle, which, when executed by a processor, implements the torque dynamic compensation method for a four-wheel drive vehicle as described in any of the above embodiments.

[0062] According to an embodiment of the present invention, when a processor executes a torque dynamic compensation program for a four-wheel drive vehicle stored on a computer-readable storage medium, the program obtains the first requested torque and the actual torque corresponding to each power source of the vehicle, and performs compensation sequentially from the nearest component or level outward based on the first requested torque and the actual torque. This can improve the torque response accuracy and drivability of the vehicle during acceleration, thereby enhancing the driving experience.

[0063] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0064] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A torque dynamic compensation method for a four-wheel drive vehicle, characterized in that, The method comprises: determining that the vehicle is in an accelerating driving state; in the accelerating driving state, obtaining a first requested torque and an actual torque corresponding to each power source of the vehicle, wherein the power source includes an engine, a front axle power generation motor, a front axle driving motor and a rear axle driving motor; compensating the torque of at least one of the power sources according to the first requested torque and the actual torque to output a second requested torque corresponding to each of the power sources; determining whether the actual torque of the engine is less than the first requested torque corresponding to the engine; when it is determined that the actual torque of the engine is less than the first requested torque corresponding to the engine, calculating a first compensation torque and outputting a second requested torque corresponding to the front axle power generation motor to compensate the torque of the engine by the front axle power generation motor, wherein the first compensation torque is the difference between the first requested torque corresponding to the engine and the actual torque of the engine; when it is determined that the actual torque of the engine is not less than the first requested torque corresponding to the engine, determining whether the actual torque of the crankshaft is less than the requested torque of the crankshaft; when it is determined that the actual torque of the crankshaft is less than the requested torque of the crankshaft, calculating a third compensation torque and outputting a second requested torque corresponding to the front axle driving motor to compensate the torque of the crankshaft by the front axle driving motor, wherein the third compensation torque is the difference between the requested torque of the crankshaft and the actual torque of the crankshaft.

2. The torque dynamic compensation method of an all-wheel drive vehicle according to claim 1, characterized in that, Further comprising: when the second requested torque corresponding to the front axle power generation motor is greater than the upper limit of the available torque of the front axle power generation motor, calculating a second compensation torque and outputting a second requested torque corresponding to the front axle driving motor to compensate the torque of the front axle power generation motor by the front axle driving motor, wherein the second compensation torque is the difference between the second requested torque corresponding to the front axle power generation motor and the upper limit of the available torque of the front axle power generation motor.

3. The torque dynamic compensation method of an all-wheel drive vehicle according to claim 2, characterized in that, Further comprising: when the second requested torque corresponding to the front axle driving motor is greater than the upper limit of the available torque of the front axle driving motor, calculating a fourth compensation torque and outputting a second requested torque corresponding to the rear axle driving motor to compensate the torque of the front axle driving motor by the rear axle driving motor, wherein the fourth compensation torque is the difference between the second requested torque corresponding to the front axle driving motor and the upper limit of the available torque of the front axle driving motor.

4. The torque dynamic compensation method of a four-wheel drive vehicle according to claim 1, characterized by, Further comprising: when it is determined that the actual torque of the crankshaft is not less than the requested torque of the crankshaft, determining whether the actual torque of the front axle is less than the requested torque of the front axle; when it is determined that the actual torque of the front axle is less than the requested torque of the front axle, calculating a fifth compensation torque and outputting a second requested torque corresponding to the rear axle driving motor to compensate the torque of the front axle by the rear axle driving motor, wherein the fifth compensation torque is the difference between the requested torque of the front axle and the actual torque of the front axle.

5. The torque dynamic compensation method of an all-wheel drive vehicle according to claim 4, characterized in that, Further comprising: The request torque of the crankshaft is the sum of the first request torque of the engine and the first request torque of the front-axle generator, and the actual torque of the crankshaft is the sum of the actual torque of the engine and the actual torque of the front-axle generator; The request torque of the front axle is the sum of the request torque of the crankshaft and the first request torque of the front-axle drive motor, and the actual torque of the front axle is the sum of the actual torque of the crankshaft and the actual torque of the front-axle drive motor.

6. A torque dynamic compensation device for a four-wheel drive vehicle, characterized by The method comprises: determining that the vehicle is in an accelerating driving state; acquiring, in the accelerating driving state, first request torques and actual torques corresponding to respective power sources of the vehicle, wherein the power sources comprise an engine, a front-axle generator, a front-axle drive motor and a rear-axle drive motor; compensating, according to the first request torques and the actual torques, for the torque of at least one of the power sources to output second request torques corresponding to the respective power sources, determining whether the actual torque of the engine is less than the first request torque corresponding to the engine, calculating a first compensation torque and outputting the second request torque corresponding to the front-axle generator when it is determined that the actual torque of the engine is less than the first request torque corresponding to the engine, so as to compensate for the torque of the engine by the front-axle generator, wherein the first compensation torque is the difference between the first request torque corresponding to the engine and the actual torque of the engine, and determining whether the actual torque of the crankshaft is less than the request torque of the crankshaft when it is determined that the actual torque of the engine is not less than the first request torque corresponding to the engine, calculating a third compensation torque and outputting the second request torque corresponding to the front-axle drive motor when it is determined that the actual torque of the crankshaft is less than the request torque of the crankshaft, so as to compensate for the torque of the crankshaft by the front-axle drive motor, wherein the third compensation torque is the difference between the request torque of the crankshaft and the actual torque of the crankshaft.

7. A vehicle characterized by comprising: The method comprises: The torque dynamic compensation device of the four-wheel drive vehicle according to claim 6.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a torque dynamic compensation program of a four-wheel drive vehicle, and the torque dynamic compensation program of the four-wheel drive vehicle, when executed by a processor, implements the torque dynamic compensation method of the four-wheel drive vehicle according to any one of claims 1-5.

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