A vehicle torque control method and device, electronic equipment and storage medium

Abstract

Embodiments of the present application provide a vehicle torque control method and device, electronic equipment and storage medium, wherein the method comprises: obtaining a total demand torque of a driver at a current time, a current vehicle speed, an actual torque of a front axle of the vehicle at a previous time, and an actual torque of a rear axle of the vehicle at the previous time; determining torque distribution target values of the front axle and the rear axle of the vehicle according to the total demand torque of the driver at the current time, the current vehicle speed, the actual torque of the front axle of the vehicle at the previous time, and the actual torque of the rear axle of the vehicle at the previous time; and controlling the torque of the vehicle according to the torque distribution target values of the front axle and the rear axle of the vehicle. The above embodiments can achieve precise control of the front axle torque and the rear axle torque, thereby improving the drivability and smoothness of the vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobiles, in particular to a vehicle torque control method and device, an electronic device and a storage medium. BACKGROUND

[0002] Torque is a special moment of force that produces rotation in an object. The torque of the motor refers to the torque output from the output end of the motor. Under the condition of fixed power, it is inversely proportional to the motor speed, the faster the speed, the smaller the torque, and vice versa. It reflects the load capacity of the vehicle within a certain range. The existing torque control method has the following several methods: determining the target torque change rate according to the difference between the target demand torque and the current torque, and controlling the torque according to the target torque change rate; determining the target torque change rate according to the current vehicle speed and the driver demand torque, and controlling the torque according to the target torque change rate; determining the torque gradient according to the current torque of the motor, the motor request torque and the motor working state, thereby performing torque filtering to obtain the target torque change rate, and controlling the torque according to the target torque change rate; performing gradient limit filtering processing on the current demand torque according to the torque filtering limit value corresponding to the current driving mode, and then performing first-order inertia filtering on the processed torque to obtain the filtered demand torque. The method in the prior art only considers the change of the target demand and the current torque, and does not consider the torque transfer change between the front and rear axles, so as to accurately control the torque of the front and rear axles. SUMMARY

[0003] Therefore, the embodiments of the present application provide a vehicle torque control method and device, an electronic device and a storage medium, which realize accurate control of the torque of the front and rear axles, thereby improving the drivability and smoothness of the vehicle.

[0004] In a first aspect, the embodiments of the present application provide a vehicle torque control method, comprising:

[0005] obtaining the total demand torque of the driver at the current time, the current speed of the vehicle, the actual torque of the front axle of the vehicle at the last time, and the actual torque of the rear axle of the vehicle at the last time;

[0006] determining the torque distribution target value of the front and rear axles of the vehicle according to the total demand torque of the driver at the current time, the current speed of the vehicle, the actual torque of the front axle of the vehicle at the last time, and the actual torque of the rear axle of the vehicle at the last time;

[0007] controlling the torque of the vehicle according to the torque distribution target value of the front and rear axles of the vehicle.

[0008] In the implementation process, the distribution target value between the front axle and the rear axle of the vehicle is determined according to the total demand torque of the driver at the current moment, the current speed of the vehicle, the actual torque of the front axle of the vehicle at the previous moment, and the actual torque of the rear axle of the vehicle at the previous moment, and the same or different torque is distributed to the front axle and the rear axle according to the torque distribution target value, compared with the prior art, the torque between the front axle and the rear axle can be accurately controlled, and the driving performance and the smoothness of the vehicle are improved.

[0009] Further, the step of determining the torque distribution target value of the front axle and the rear axle of the vehicle according to the total demand torque of the driver at the current moment, the current speed of the vehicle, the actual torque of the front axle of the vehicle at the previous moment, and the actual torque of the rear axle of the vehicle at the previous moment comprises:

[0010] Obtaining external intervention information;

[0011] Determining the torque distribution target value of the front axle and the rear axle of the vehicle according to the external intervention information, the total demand torque of the driver at the current moment, the current speed of the vehicle, the actual torque of the front axle of the vehicle at the previous moment, and the actual torque of the rear axle of the vehicle at the previous moment.

[0012] In the implementation process, the control factor of the external intervention information is considered, the torque distribution target value is obtained based on the external intervention information, and the torque between the front axle and the rear axle can be further accurately distributed.

[0013] Further, the torque comprises: the torque of the front axle; and the step of controlling the torque of the vehicle according to the torque distribution target value of the front axle and the rear axle of the vehicle comprises:

[0014] Obtaining the target torque of the front axle;

[0015] Obtaining a first difference value between the target torque of the front axle and the actual torque of the front axle at the previous moment;

[0016] Controlling the torque of the front axle according to the torque distribution target value and the first difference value.

[0017] In the implementation process, the torque required by the current front axle can be determined according to the first difference value and the distribution target value.

[0018] Further, the torque comprises: the torque of the rear axle; and the step of controlling the torque of the vehicle according to the torque distribution target value of the front axle and the rear axle of the vehicle further comprises:

[0019] Obtaining the target torque of the rear axle;

[0020] Obtaining a second difference value between the target torque of the rear axle and the actual torque of the rear axle at the previous moment;

[0021] control the torque of the front axle according to the torque distribution target value and the first difference value.

[0022] In the implementation process, the torque required by the current front axle can be determined according to the second difference value and the distribution target value.

[0023] Further, the step of controlling the torque of the front axle according to the torque distribution target value and the first difference value comprises:

[0024] When the distribution target value is a first preset value and the first difference value is greater than a first threshold value, updating the torque filtering slope of the front axle to a first front axle torque filtering slope;

[0025] controlling the torque of the front axle according to the first front axle torque filtering slope and the torque distribution target value.

[0026] Further, the step of controlling the torque of the front axle according to the torque distribution target value and the first difference value comprises:

[0027] When the distribution target value is between a second preset value and a third preset value, and the first difference value is greater than a fourth preset value, updating the torque filtering slope of the front axle to a second front axle torque filtering slope;

[0028] controlling the torque of the front axle according to the second front axle torque filtering slope and the torque distribution target value.

[0029] Further, the step of controlling the torque of the rear axle according to the torque distribution target value and the second difference value comprises:

[0030] When the distribution target value is a fifth preset value and the second difference value is greater than a sixth preset value, updating the torque filtering slope of the rear axle to a first rear axle torque filtering slope;

[0031] controlling the torque of the rear axle according to the first rear axle torque filtering slope and the torque distribution target value.

[0032] Further, the step of controlling the torque of the rear axle according to the torque distribution target value and the second difference value comprises:

[0033] When the distribution target value is between a seventh preset value and an eighth preset value, and the second difference value is greater than a ninth preset value, updating the torque filtering slope of the rear axle to a second rear axle torque filtering slope;

[0034] controlling the torque of the rear axle according to the second rear axle torque filtering slope and the torque distribution target value.

[0035] In a second aspect, the application provides a vehicle torque control device, comprising:

[0036] a parameter acquisition module configured to acquire a total demand torque of a driver at a current time, a current vehicle speed, an actual torque of a front axle of the vehicle at a previous time, and an actual torque of a rear axle of the vehicle at the previous time;

[0037] a distribution target value acquisition module configured to determine torque distribution target values of the front axle and the rear axle of the vehicle according to the total demand torque of the driver at the current time, the current vehicle speed, the actual torque of the front axle of the vehicle at the previous time, and the actual torque of the rear axle of the vehicle at the previous time;

[0038] a control module configured to control the torque of the vehicle according to the torque distribution target values of the front axle and the rear axle of the vehicle.

[0039] In a third aspect, the application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and the processor executes the computer program to implement the steps of the method according to any one of the first aspect.

[0040] In a fourth aspect, the application provides a computer readable storage medium, and the computer readable storage medium stores instructions, and the instructions, when running on a computer, cause the computer to execute the method according to any one of the first aspect.

[0041] Other features and advantages of the application will be described in the following description, or can be learned from the description, or can be determined without doubt, or can be known by implementing the above-mentioned technology.

[0042] In order to make the above-mentioned purposes, features and advantages of the application more obvious and easy to understand, the following preferred embodiments are described in detail below, and the accompanying drawings are described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0043] In order to more clearly illustrate the technical solutions of the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments of the application. It should be understood that the following drawings only show some embodiments of the application, and therefore should not be regarded as a limitation to the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0044] Figure 1 A flowchart of a vehicle torque control method provided by the embodiments of the application is shown in the figure.

[0045] Figure 2A flowchart of a method for controlling torque of a vehicle according to an allocated torque target value is provided in the embodiments of the present application.

[0046] Figure 3 Another flowchart of a method for controlling torque of a vehicle according to an allocated torque target value is provided in the embodiments of the present application.

[0047] Figure 4 A structural diagram of a control device for vehicle torque is provided in the embodiments of the present application.

[0048] Figure 5 A structural diagram of an electronic device is provided in the embodiments of the present application. DETAILED DESCRIPTION

[0049] The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings.

[0050] It should be noted that similar reference numerals and letters refer to similar items in the accompanying drawings, and thus, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings. Meanwhile, in the description of the present application, the terms "first", "second", and the like are merely used to distinguish description, and cannot be understood as indicating or implying relative importance.

[0051] Embodiment 1

[0052] Referring to Figure 1 The embodiments of the present application provide a control method for vehicle torque, comprising:

[0053] S1: obtaining total demand torque of a driver at a current time, current vehicle speed of the vehicle, actual torque of a front axle of the vehicle at a previous time, and actual torque of a rear axle of the vehicle at the previous time;

[0054] S2: determining torque allocation target values of the front axle and the rear axle of the vehicle according to the total demand torque of the driver at the current time, the current vehicle speed of the vehicle, the actual torque of the front axle of the vehicle at the previous time, and the actual torque of the rear axle of the vehicle at the previous time;

[0055] S3: determining a torque filtering parameter according to the torque target allocation value, and controlling torque according to the target allocation value and the filtering parameter.

[0056] In the implementation process, the distribution target value between the front axle and the rear axle of the vehicle is determined according to the total demand torque of the driver at the current moment, the current speed of the vehicle, the actual torque of the front axle of the vehicle at the previous moment, and the actual torque of the rear axle of the vehicle at the previous moment, and the same or different torque is distributed to the front axle and the rear axle according to the torque distribution target value, so that the precise control of the torque between the front axle and the rear axle is realized, and the driving performance and the smoothness of the vehicle are improved.

[0057] In a possible implementation, S2 comprises: obtaining external intervention information; determining the torque distribution target value of the front axle and the rear axle of the vehicle according to the external intervention information, the total demand torque of the driver at the current moment, the current speed of the vehicle, the actual torque of the front axle of the vehicle at the previous moment, and the actual torque of the rear axle of the vehicle at the previous moment.

[0058] The external intervention information is a limiting intervention on the overall torque output of the vehicle caused by road conditions, climate conditions, etc., and the intervention includes braking and larger damping.

[0059] In the above embodiment, the torque distribution target value of the front axle and the rear axle of the vehicle is obtained by looking up a table, and the data in the table is obtained by experiment in advance. The data in the table includes different external intervention information, the total demand torque of the driver at the current moment, the current speed of the vehicle, the actual torque of the front axle of the vehicle at the previous moment, the actual torque of the rear axle of the vehicle at the previous moment, and the corresponding energy consumption of the torque distribution target value of the front axle and the rear axle of the vehicle. When the table is queried, the front axle torque distribution target value and the rear axle torque distribution target value corresponding to the lowest energy consumption are queried.

[0060] In the implementation process, the control factor of the external intervention information is added, the torque distribution target value is obtained based on the external intervention information, and the further precise distribution of the torque between the front axle and the rear axle is realized.

[0061] Referring to Figure 2 In a possible implementation, the torque comprises: the torque of the front axle; and S3 comprises:

[0062] S31: obtaining the target torque of the front axle;

[0063] S32: obtaining a first difference value between the target torque of the front axle and the actual torque of the front axle at the previous moment;

[0064] In the above embodiment, the target torque of the front axle is the product of the torque distribution target value and the total demand torque.

[0065] S33: controlling the torque of the front axle according to the torque distribution target value and the first difference value.

[0066] In the implementation process, the torque required by the current front axle can be determined according to the first difference value and the torque distribution target value.

[0067] Referring to Figure 3 In a possible implementation, the torque includes a torque of a rear axle, and S3 further includes:

[0068] S34: obtaining a target torque of the rear axle;

[0069] S35: obtaining a second difference value between the target torque of the rear axle and an actual torque of the rear axle at the last time point;

[0070] S36: controlling the torque of the rear axle according to the torque distribution target value and the second difference value.

[0071] In the implementation process, the torque required by the current front axle can be determined according to the second difference value and the torque distribution target value.

[0072] In a possible implementation, S33 includes: when the torque distribution target value is a first preset value and the first difference value is greater than a first threshold value, updating a torque filter slope of the front axle to be a first front axle torque filter slope; and controlling the torque of the front axle according to the first front axle torque filter slope and the torque distribution target value.

[0073] In the above embodiment, the torque distribution target value is a front axle torque distribution target value, the change speed of the torque filter slope determines the change speed of the torque per unit time, and therefore, the torque is controlled to reach the front axle torque distribution target value according to the first front axle torque filter slope.

[0074] In a possible implementation, S32 further includes: when the torque distribution target value is between a second preset value and a third preset value and the first difference value is greater than a fourth preset value, updating the torque filter slope of the front axle to be a second front axle torque filter slope; and controlling the torque of the front axle according to the second front axle torque filter slope and the torque distribution target value.

[0075] In the above embodiment, the torque distribution target value is a front axle torque distribution target value, the change speed of the torque filter slope determines the change speed of the torque per unit time, and therefore, the torque is controlled to reach the front axle torque distribution target value according to the second front axle torque filter slope.

[0076] In a possible implementation, S34 includes: when the torque distribution target value is a fifth preset value and the second difference value is greater than a sixth preset value, updating a torque filter slope of the rear axle to be a first rear axle torque filter slope; and controlling the torque of the rear axle according to the first rear axle torque filter slope and the torque distribution target value.

[0077] In the above embodiment, the torque distribution target value is a rear axle torque distribution target value, and the change speed of the torque filtering slope determines the change speed of the torque per unit time, and therefore the torque is controlled to reach the rear axle torque distribution target value according to the second rear axle torque filtering slope.

[0078] In a possible implementation, S34 includes: when the distribution target value is between the seventh preset value and the eighth preset value, and the second difference value is greater than the ninth preset value, updating the torque filtering slope of the rear axle to be a second rear axle torque filtering slope; and controlling the torque of the rear axle according to the second rear axle torque filtering slope and the torque distribution target value.

[0079] In the above embodiment, the torque distribution target value is a rear axle torque distribution target value, and the change speed of the torque filtering slope determines the change speed of the torque per unit time, and therefore the torque is controlled to reach the rear axle torque distribution target value according to the second rear axle torque filtering slope.

[0080] In the above embodiment, the first preset value is 100%, the first threshold value is 8% of the maximum torque of the front axle motor, the second preset value is 99%, the third preset value is 1%, the fourth preset value is 5% of the maximum torque of the front axle motor, the fifth preset value is 0%, the sixth preset value is 8% of the maximum torque of the rear axle motor, the seventh preset value is 99%, the eighth preset value is 1%, and the ninth preset value is 5% of the maximum torque of the rear axle motor.

[0081] Embodiment 2

[0082] Referring to Figure 4 The control device for vehicle torque provided in the embodiments of the present application comprises:

[0083] A parameter acquisition module 1 is configured to acquire a total demand torque of a driver at a current time, a current vehicle speed, an actual torque of a front axle of the vehicle at a previous time, and an actual torque of a rear axle of the vehicle at the previous time.

[0084] A distribution target value acquisition module 2 is configured to determine torque distribution target values of the front axle and the rear axle of the vehicle according to the total demand torque of the driver at the current time, the current vehicle speed, the actual torque of the front axle of the vehicle at the previous time, and the actual torque of the rear axle of the vehicle at the previous time.

[0085] A control module 3 is configured to control the torque of the vehicle according to the torque distribution target values of the front axle and the rear axle of the vehicle.

[0086] In a possible implementation, the distribution target value acquisition module 2 is further configured to acquire external intervention information.

[0087] The torque distribution target value of the front axle and the rear axle of the vehicle is determined according to the external intervention information, the total demand torque of the driver at the current moment, the current vehicle speed of the vehicle, the actual torque of the front axle of the vehicle at the last moment, and the actual torque of the rear axle of the vehicle at the last moment.

[0088] In a possible implementation, the torque includes a torque of the front axle; the control module 3 is further configured to acquire a target torque of the front axle; acquire a first difference value between the target torque of the front axle and the actual torque of the front axle at the last moment; and control the torque of the front axle according to the torque distribution target value and the first difference value.

[0089] In a possible implementation, the torque includes a torque of the rear axle; the control module 3 is further configured to acquire a target torque of the rear axle; acquire a second difference value between the target torque of the rear axle and the actual torque of the rear axle at the last moment; and control the torque of the rear axle according to the torque distribution target value and the second difference value.

[0090] In a possible implementation, the control module 3 is further configured to update a torque filtering slope of the front axle to a first front axle torque filtering slope when the distribution target value is a first preset value and the first difference value is greater than a first threshold value; and control the torque of the front axle according to the first front axle torque filtering slope and the torque distribution target value.

[0091] In a possible implementation, the control module 3 is further configured to update the torque filtering slope of the front axle to a second front axle torque filtering slope when the distribution target value is between a second preset value and a third preset value and the first difference value is greater than a fourth preset value; and control the torque of the front axle according to the second front axle torque filtering slope and the torque distribution target value.

[0092] In a possible implementation, the control module 3 is further configured to update a torque filtering slope of the rear axle to a first rear axle torque filtering slope when the distribution target value is a fifth preset value and the second difference value is greater than a sixth preset value; and control the torque of the rear axle according to the first rear axle torque filtering slope and the torque distribution target value.

[0093] In a possible implementation, the control module 3 is further configured to update the torque filtering slope of the rear axle to a second rear axle torque filtering slope when the distribution target value is between a seventh preset value and an eighth preset value and the second difference value is greater than a ninth preset value; and control the torque of the rear axle according to the second rear axle torque filtering slope and the torque distribution target value.

[0094] The application also provides an electronic device, please refer to Figure 5 , Figure 5A structural block diagram of an electronic device is provided in the embodiments of the present application. The electronic device can include a processor 51, a communication interface 52, a memory 53 and at least one communication bus 54. The communication bus 34 is used to realize direct connection communication among the components. The communication interface 52 of the electronic device in the embodiments of the present application is used to communicate signaling or data with other node devices. The processor 51 can be an integrated circuit chip with signal processing capability.

[0095] The processor 51 described above can be a general processor, including a central processing unit (CPU), a network processor (NP) and the like; and can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a ready programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component. The disclosed methods, steps and logic block diagrams in the embodiments of the present application can be implemented or executed. The general processor can be a microprocessor or the processor 51 can also be any conventional processor or the like.

[0096] The memory 53 can be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read only memory (PROM), an erasable programmable read only memory (EPROM), an electrically erasable programmable read only memory (EEPROM) and the like. The memory 53 stores computer readable instructions. When the computer readable instructions are executed by the processor 51, the electronic device can execute each step involved in the above method embodiments.

[0097] Optionally, the electronic device can further include a storage controller, an input / output unit.

[0098] The memory 53, the storage controller, the processor 51, the peripheral interface, the input / output unit are electrically connected with each other directly or indirectly to realize data transmission or interaction. For example, these elements can be electrically connected with each other through one or more communication buses 54. The processor 51 is used to execute the executable modules stored in the memory 53, such as software function modules or computer programs included in the electronic device.

[0099] The input / output unit is used to provide a user with a creation task and create a start optional period or a preset execution time for the task to realize the interaction between the user and the server. The input / output unit can be, but is not limited to, a mouse, a keyboard and the like.

[0100] It can be understood that, Figure 5 The structure shown is only schematic, and the electronic device can further include more or fewer components than those shown in Figure 5 or have a different configuration from that shown. Figure 5 The components shown in the above embodiments can be implemented in hardware, software or a combination thereof. Figure 5 The components shown in the above embodiments can be implemented in hardware, software or a combination thereof.

[0101] The embodiments of the present application also provide a computer readable storage medium, and the computer readable storage medium stores instructions, when the instructions are run on a computer, the computer program is executed by a processor to realize the method of the method embodiments, to avoid repetition, here is no longer repeated.

[0102] In several embodiments provided in the present application, it should be understood that the disclosed apparatus and method can also be implemented by other ways. The apparatus embodiments described above are only schematic, for example, the flowcharts and block diagrams in the drawings show the possible implementation architectures, functions and operations of the apparatus, method and computer program product according to the embodiments of the present application. In this regard, each block in the flowcharts or block diagrams can represent a module, a program segment or a part of code, which contains one or more executable instructions for implementing the specified logic function. It should also be noted that, in some alternative implementations, the functions noted in the blocks can also occur in different order from that noted in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and sometimes they can be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and the combination of blocks in the block diagrams and / or flowcharts, can be implemented by a dedicated hardware-based system for executing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0103] In addition, each functional module in the embodiments of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0104] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the parts of the prior art that make contributions or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the embodiments of the method of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0105] The above are only embodiments of the present application and are not used to limit the protection scope of the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application. It should be noted that similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0106] The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any skilled person in the art can easily think of changes or replacements within the technical scope disclosed by the present application, which shall be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

[0107] It should be noted that in this paper, relationship 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 the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, article or device including the element.

Claims

1. A control method of vehicle torque, characterized by, The method comprises: acquiring a total demand torque of a driver at a current time, a current speed of the vehicle, an actual torque of a front axle of the vehicle at a previous time, and an actual torque of a rear axle of the vehicle at the previous time; determining torque distribution target values of the front axle and the rear axle of the vehicle according to the total demand torque of the driver at the current time, the current speed of the vehicle, the actual torque of the front axle of the vehicle at the previous time, and the actual torque of the rear axle of the vehicle at the previous time; controlling the torque of the vehicle according to the torque distribution target values of the front axle and the rear axle of the vehicle; and the step of determining the torque distribution target values of the front axle and the rear axle of the vehicle according to the total demand torque of the driver at the current time, the current speed of the vehicle, the actual torque of the front axle of the vehicle at the previous time, and the actual torque of the rear axle of the vehicle at the previous time comprises: acquiring external intervention information; determining the torque distribution target values of the front axle and the rear axle of the vehicle according to the external intervention information, the total demand torque of the driver at the current time, the current speed of the vehicle, the actual torque of the front axle of the vehicle at the previous time, and the actual torque of the rear axle of the vehicle at the previous time; and the torque comprises: a torque of the front axle; the step of controlling the torque of the vehicle according to the torque distribution target values of the front axle and the rear axle of the vehicle comprises: acquiring a target torque of the front axle; acquiring a first difference between the target torque of the front axle and an actual torque of the front axle at the previous time; controlling the torque of the front axle according to the torque distribution target value and the first difference; the step of controlling the torque of the front axle according to the torque distribution target value and the first difference comprises: when the distribution target value is a first preset value and the first difference is greater than a first threshold value, updating a torque filtering slope of the front axle to be a first front axle torque filtering slope; controlling the torque of the front axle according to the first front axle torque filtering slope and the torque distribution target value.

2. The vehicle torque control method according to claim 1, characterized by, the torque comprises: a torque of the rear axle; the step of controlling the torque of the vehicle according to the torque distribution target values of the front axle and the rear axle of the vehicle further comprises: acquiring a target torque of the rear axle; acquiring a second difference between the target torque of the rear axle and an actual torque of the rear axle at the previous time; controlling the torque of the rear axle according to the torque distribution target value and the second difference.

3. The vehicle torque control method according to claim 1, characterized by, the step of controlling the torque of the front axle according to the torque distribution target value and the first difference comprises: when the distribution target value is between a second preset value and a third preset value and the first difference is greater than a fourth preset value, updating the torque filtering slope of the front axle to be a second front axle torque filtering slope; controlling the torque of the front axle according to the second front axle torque filtering slope and the torque distribution target value.

4. The vehicle torque control method according to claim 2, characterized by, the step of controlling the torque of the rear axle according to the torque distribution target value and the second difference comprises: when the distribution target value is a fifth preset value and the second difference is greater than a sixth preset value, updating a torque filtering slope of the rear axle to be a first rear axle torque filtering slope; and controlling the torque of the rear axle according to the first rear axle torque filtering slope and the torque distribution target value. According to the first rear axle torque filtering slope, the torque distribution target value controls the torque of the rear axle.

5. The vehicle torque control method according to claim 2, characterized by, The step of controlling the torque of the rear axle according to the torque distribution target value and the second difference value comprises: When the distribution target value is between the seventh preset value and the eighth preset value, and the second difference value is greater than the ninth preset value, updating the torque filtering slope of the rear axle to a second rear axle torque filtering slope; According to the second rear axle torque filtering slope, the torque distribution target value controls the torque of the rear axle.

6. A control device of a vehicle torque, characterized by, Comprise: The parameter acquisition module is used for acquiring the total demand torque of the driver at the current moment, the current speed of the vehicle, the actual torque of the front axle of the vehicle at the last moment, and the actual torque of the rear axle of the vehicle at the last moment. The distribution target value acquisition module is used for determining the torque distribution target value of the front axle and the rear axle of the vehicle according to the total demand torque of the driver at the current moment, the current speed of the vehicle, the actual torque of the front axle of the vehicle at the last moment, and the actual torque of the rear axle of the vehicle at the last moment. The control module is used for controlling the torque of the vehicle according to the torque distribution target value of the front axle and the rear axle of the vehicle. And the step of determining the torque distribution target value of the front axle and the rear axle of the vehicle according to the total demand torque of the driver at the current moment, the current speed of the vehicle, the actual torque of the front axle of the vehicle at the last moment, and the actual torque of the rear axle of the vehicle at the last moment comprises: Obtain external intervention information; Determine the torque distribution target value of the front axle and the rear axle of the vehicle according to the external intervention information, the total demand torque of the driver at the current moment, the current speed of the vehicle, the actual torque of the front axle of the vehicle at the last moment, and the actual torque of the rear axle of the vehicle at the last moment. And the torque comprises: the torque of the front axle; The step of controlling the torque of the vehicle according to the torque distribution target value of the front axle and the rear axle of the vehicle comprises: Obtain the target torque of the front axle; Obtain the first difference value between the target torque of the front axle and the actual torque of the front axle at the last moment; Control the torque of the front axle according to the torque distribution target value and the first difference value. The step of controlling the torque of the front axle according to the torque distribution target value and the first difference value comprises: When the distribution target value is a first preset value and the first difference value is greater than a first threshold value, updating the torque filtering slope of the front axle to a first front axle torque filtering slope; According to the first front axle torque filtering slope, the torque distribution target value controls the torque of the front axle.

7. An electronic device, comprising: Comprise: The memory, the processor and the computer program stored in the memory and executable on the processor, when the processor executes the computer program, realize the steps of the method in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores instructions, when the instructions run on the computer, make the computer execute the method in any one of claims 1-5.

Images