Torque determination method, device, equipment and storage medium

Abstract

The present application discloses a torque determination method, device, equipment and storage medium, belonging to the field of vehicle technology. The method determines the power loss values ​​of the first motor and the second motor at different speeds and different required torques according to the power loss of the first motor and the second motor at different speeds and different torques, and then determines the torque distribution coefficients of the first motor and the second motor when the total power loss value is the minimum, establishes the corresponding relationship between the speed, the required total torque, the torque distribution coefficient of the first motor and the torque distribution coefficient of the second motor, and during the driving process of the vehicle, distributes torque to the first motor and the second motor according to the actual speed of the vehicle, the actual required total torque and the corresponding relationship, so that the first motor and the second motor can be in a working state with the minimum power loss, thereby improving the vehicle's cruising range.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a torque determination method, device, equipment and storage medium. Background Art

[0002] Energy crisis and environmental degradation have become important factors restricting economic development. Researching cars with energy-saving and environmentally friendly performance is one of the effective means to ease energy pressure and reduce environmental pollution. Compared with traditional cars that use gasoline, diesel and other fuels as power sources, pure electric vehicles use rechargeable batteries as power sources, which can not only reduce pollutant emissions, but also reduce energy consumption.

[0003] Pure electric vehicles generally include a front motor and a rear motor. The torque output by the engine is distributed to the front motor and the rear motor, and then the front motor and the rear motor drive the vehicle based on their respective allocated torques. Since pure electric vehicles use rechargeable batteries as a power source, pure electric vehicles must minimize energy consumption while meeting the user's demand for power performance. Therefore, how to distribute torque to the front motor and the rear motor to minimize energy consumption has become the focus of research. Summary of the invention

[0004] The embodiment of the present application provides a torque determination method, device, equipment and storage medium, which can reduce energy consumption and increase vehicle range. The technical solution is as follows:

[0005] In one aspect, a torque determination method is provided, the method comprising:

[0006] Obtaining a first power loss diagram and a second power loss diagram; the first power loss diagram is used to reflect the power loss of a first motor in a vehicle at different speeds and different torques, and the second power loss diagram is used to reflect the power loss of a second motor in the vehicle at different speeds and different torques; in the driving direction of the vehicle, the position of the first motor is before the position of the second motor;

[0007] Acquire a plurality of required total torques of the vehicle, a plurality of rotational speeds, and a torque distribution coefficient array of the second motor; the torque distribution coefficient array includes a plurality of torque distribution coefficients;

[0008] For each required total torque, determining a first torque array of the first motor and a second torque array of the second motor based on the required total torque and the torque distribution coefficient array;

[0009] Determine a first power loss array corresponding to the first motor based on the first power loss map, the first torque array and the plurality of speeds; the first power loss array includes a plurality of first power loss values;

[0010] Determine a second power loss array corresponding to the second motor based on the second power loss map, the second torque array and the plurality of speeds; the second power loss array includes a plurality of second power loss values;

[0011] Determining, based on the first power loss array and the second power loss array, a first torque distribution coefficient of the first motor and a second torque distribution coefficient of the second motor when the total power loss value is minimum;

[0012] Establishing a corresponding relationship between the rotation speed, the required total torque, the first torque distribution coefficient and the second torque distribution coefficient, and storing the corresponding relationship;

[0013] When the vehicle is in a driving state, the required torque of the first motor and the required torque of the second motor are determined based on the actual rotation speed of the vehicle, the actual required total torque and the corresponding relationship.

[0014] In a possible implementation manner, the process of obtaining the first power loss map includes:

[0015] Obtaining a first efficiency distribution diagram; the first efficiency distribution diagram is used to reflect the motor efficiency distribution of the first motor at different speeds and different torques;

[0016] Based on the first efficiency distribution diagram, determining the motor efficiency of the first motor at different speeds and different torques;

[0017] Determining a power loss value of the first motor at the first speed and the first torque based on a motor efficiency of the first motor at the first speed and the first torque;

[0018] The first power loss diagram is determined based on power loss values ​​corresponding to the first motor at different speeds and different torques.

[0019] In another possible implementation, determining the power loss value corresponding to the first motor at the first speed and the first torque based on the motor efficiency corresponding to the first motor at the first speed and the first torque includes:

[0020] Determining a plurality of operating modes corresponding to the vehicle;

[0021] Determine first relationship data corresponding to each working mode; the first relationship data is used to reflect the relationship between the speed, torque, motor efficiency and power of the first motor;

[0022] Based on the first relationship data corresponding to each operating mode and the motor efficiency of the first motor at the first speed and the first torque, the power loss value of the first motor at the first speed and the first torque in each operating mode is determined.

[0023] In another possible implementation, determining the first torque array of the first motor and the second torque array of the second motor based on the required total torque and the torque distribution coefficient array includes:

[0024] Determine the product of each torque distribution coefficient in the torque distribution coefficient array and the required total torque to obtain a plurality of required torques corresponding to the second motor;

[0025] Determine a difference between the required total torque and each required torque corresponding to the second motor to obtain a plurality of required torques corresponding to the first motor;

[0026] The multiple required torques corresponding to the first motor are combined into the first torque array, and the multiple required torques corresponding to the second motor are combined into the second torque array.

[0027] In another possible implementation, the determining, based on the first power loss array and the second power loss array, of the first torque distribution coefficient of the first motor and the second torque distribution coefficient of the second motor when the total power loss value is minimum includes:

[0028] For each first power loss value and its corresponding second power loss value, determining a sum of the first power loss value and the second power loss value to obtain a total power loss value;

[0029] determining a minimum total power loss value from a plurality of total power loss values;

[0030] Determine a target position in the second power loss array, the target position being a position where the second power loss value corresponding to the minimum total power loss value is located;

[0031] Determining the torque distribution coefficient corresponding to the target position in the torque distribution coefficient array, and using the torque distribution coefficient corresponding to the target position as the second torque distribution coefficient;

[0032] The difference between the torque distribution threshold and the second torque distribution coefficient is determined to obtain the first torque distribution coefficient.

[0033] In another possible implementation, the process of obtaining the torque distribution coefficient array includes:

[0034] Determining a coefficient range corresponding to a torque distribution coefficient of the second motor;

[0035] Within the coefficient range, a torque distribution coefficient is determined at every preset interval to obtain a plurality of torque distribution coefficients;

[0036] The plurality of torque distribution coefficients are combined into the torque distribution coefficient array.

[0037] In another possible implementation, determining the required torque of the first motor and the required torque of the second motor based on the actual speed of the vehicle, the actual required total torque, and the corresponding relationship includes:

[0038] Based on the actual speed and the actual required total torque, searching from the corresponding relationship for a first torque distribution coefficient and a second torque distribution coefficient corresponding to the actual speed and the actual required total torque;

[0039] Determine the product of the actual required total torque and the first torque distribution coefficient to obtain the required torque of the first motor;

[0040] The product of the actual required total torque and the second torque distribution coefficient is determined to obtain the required torque of the second motor.

[0041] In another aspect, a torque determination device is provided, the device comprising:

[0042] a first acquisition module, configured to acquire a first power loss diagram and a second power loss diagram; the first power loss diagram is configured to reflect the power loss of a first motor in a vehicle at different speeds and different torques, and the second power loss diagram is configured to reflect the power loss of a second motor in the vehicle at different speeds and different torques; in the driving direction of the vehicle, the position of the first motor is before the position of the second motor;

[0043] A second acquisition module, configured to acquire a plurality of required total torques of the vehicle, a plurality of rotational speeds, and a torque distribution coefficient array of the second motor; the torque distribution coefficient array includes a plurality of torque distribution coefficients;

[0044] A first determination module, configured to determine, for each required total torque, a first torque array of the first motor and a second torque array of the second motor based on the required total torque and the torque distribution coefficient array;

[0045] A second determination module, configured to determine a first power loss array corresponding to the first motor based on the first power loss map, the first torque array, and the plurality of speeds; the first power loss array including a plurality of first power loss values;

[0046] A third determination module, configured to determine a second power loss array corresponding to the second motor based on the second power loss map, the second torque array and the plurality of speeds; the second power loss array including a plurality of second power loss values;

[0047] a fourth determination module, configured to determine, based on the first power loss array and the second power loss array, a first torque distribution coefficient of the first motor and a second torque distribution coefficient of the second motor when a total power loss value is minimum;

[0048] A storage module, used to establish a corresponding relationship between the rotation speed, the required total torque, the first torque distribution coefficient and the second torque distribution coefficient, and store the corresponding relationship;

[0049] The fifth determination module is used to determine the required torque of the first motor and the required torque of the second motor based on the actual rotation speed of the vehicle, the actual required total torque and the corresponding relationship when the vehicle is in a driving state.

[0050] In a possible implementation, the first acquisition module is used to acquire a first efficiency distribution diagram; the first efficiency distribution diagram is used to reflect the motor efficiency distribution of the first motor at different speeds and different torques; based on the first efficiency distribution diagram, the motor efficiency corresponding to the first motor at different speeds and different torques is determined; based on the motor efficiency corresponding to the first motor at the first speed and the first torque, the power loss value corresponding to the first motor at the first speed and the first torque is determined; based on the power loss value corresponding to the first motor at different speeds and different torques, the first power loss diagram is determined.

[0051] In another possible implementation, the first acquisition module is used to determine multiple operating modes corresponding to the vehicle; determine first relationship data corresponding to each operating mode; the first relationship data is used to reflect the relationship between the speed, torque, motor efficiency and power of the first motor; based on the first relationship data corresponding to each operating mode and the motor efficiency corresponding to the first motor at the first speed and the first torque, determine the power loss value of the first motor at the first speed and the first torque in each operating mode.

[0052] In another possible implementation, the first determination module is used to determine the product of each torque distribution coefficient in the torque distribution coefficient array and the required total torque to obtain multiple required torques corresponding to the second motor; determine the difference between the required total torque and each required torque corresponding to the second motor to obtain multiple required torques corresponding to the first motor; and form the multiple required torques corresponding to the first motor into the first torque array, and form the multiple required torques corresponding to the second motor into the second torque array.

[0053] In another possible implementation, the fourth determination module is used to determine, for each first power loss value and its corresponding second power loss value, the sum of the first power loss value and the second power loss value to obtain a total power loss value; determine the minimum total power loss value from multiple total power loss values; determine a target position in the second power loss array, the target position being the position of the second power loss value corresponding to the minimum total power loss value; determine the torque distribution coefficient corresponding to the target position in the torque distribution coefficient array, and use the torque distribution coefficient corresponding to the target position as the second torque distribution coefficient; determine the difference between the torque distribution threshold and the second torque distribution coefficient to obtain the first torque distribution coefficient.

[0054] In another possible implementation, the second acquisition module is used to determine the coefficient range corresponding to the torque distribution coefficient of the second motor; within the coefficient range, a torque distribution coefficient is determined at every preset interval to obtain multiple torque distribution coefficients; and the multiple torque distribution coefficients are combined into the torque distribution coefficient array.

[0055] In another possible implementation, the fifth determination module is used to search the first torque distribution coefficient and the second torque distribution coefficient corresponding to the actual speed and the actual required total torque from the corresponding relationship based on the actual speed and the actual required total torque; determine the product of the actual required total torque and the first torque distribution coefficient to obtain the required torque of the first motor; determine the product of the actual required total torque and the second torque distribution coefficient to obtain the required torque of the second motor.

[0056] On the other hand, an electronic device is provided, comprising a processor and a memory, wherein at least one program code is stored in the memory, and the at least one program code is loaded and executed by the processor to implement any of the torque determination methods described above.

[0057] On the other hand, a computer-readable storage medium is provided, in which at least one program code is stored. The at least one program code is loaded and executed by a processor to implement any of the torque determination methods described above.

[0058] On the other hand, a computer program product is provided, wherein at least one program code is stored in the computer program product, and the at least one program code is loaded and executed by a processor to implement any of the torque determination methods described above.

[0059] An embodiment of the present application provides a torque determination method, which determines the power loss values ​​of the first motor and the second motor at different speeds and different required torques according to the power loss conditions of the first motor and the second motor at different speeds and different torques, and then determines the torque distribution coefficients of the first motor and the second motor when the total power loss value is minimum, and establishes a corresponding relationship between the speed, the required total torque, the torque distribution coefficient of the first motor and the torque distribution coefficient of the second motor. During vehicle driving, torque is distributed to the first motor and the second motor according to the actual speed of the vehicle, the actual required total torque and the corresponding relationship, so that the first motor and the second motor can be in a working state with minimum power loss, thereby improving the vehicle's cruising range.

[0060] It is to be understood that the foregoing general description and the following detailed description are exemplary only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 is a schematic diagram of an implementation environment of a torque determination method provided in an embodiment of the present application;

[0062] Figure 2 is a flow chart of establishing and storing a corresponding relationship between a rotation speed, a required total torque, a first torque distribution coefficient, and a second torque distribution coefficient provided by an embodiment of the present application;

[0063] Figure 3 is a schematic diagram of determining a first torque array and a second torque array provided in an embodiment of the present application;

[0064] Figure 4 is a schematic diagram of determining the minimum total power loss provided by an embodiment of the present application;

[0065] Figure 5 is a schematic diagram of determining a second torque distribution coefficient provided in an embodiment of the present application;

[0066] Figure 6 is a flow chart of determining the required torque of the first motor and the second motor based on the established corresponding relationship provided in an embodiment of the present application;

[0067] Figure 7 is a structural schematic diagram of a torque determination device provided in an embodiment of the present application;

[0068] Figure 8 It is a structural block diagram of a terminal provided in an embodiment of the present application;

[0069] Fig. 9 It is a structural block diagram of a server provided in an embodiment of the present application. DETAILED DESCRIPTION

[0070] In order to make the technical solutions and advantages of the present application clearer, the implementation methods of the present application are described in further detail below.

[0071] The terms "first", "second", "third" and "fourth" etc. in the specification and claims of the present application and the drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0072] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.) and signals involved in this application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions. For example, the speed, torque, motor efficiency, power loss, required total torque and torque distribution coefficient involved in this application are all obtained with full authorization.

[0073] Figure 1 is a schematic diagram of an implementation environment of a torque determination method provided in an embodiment of the present application, see Figure 1 , the implementation environment includes: an electronic device, which can be provided as a terminal 101, can be provided as a server 102, or can be provided as a terminal 101 and a server 102. If the electronic device is provided as a terminal 101 and a server 102, the terminal 101 and the server 102 can be connected via a wireless or wired network. In the embodiment of the present application, only the electronic device provided as a terminal 101 and a server 102 is used as an example for description.

[0074] If the electronic device is provided as a terminal 101 and a server 102, the target application is installed on the terminal 101, and the server 102 is the server 102 corresponding to the target application. In the embodiment of the present application, the corresponding relationship between the rotational speed, the required total torque, the first torque distribution coefficient and the second torque distribution coefficient is established and stored by the server 102. When the vehicle is in a driving state, the terminal 101 sends the actual rotational speed and the actual required total torque of the vehicle to the server 102. The server 102 determines the required torque of the first motor and the required torque of the second motor based on the actual rotational speed, the real-time required total torque and the above-mentioned corresponding relationship, and then returns the required torque of the first motor and the required torque of the second motor to the terminal 101.

[0075] For the sake of distinction, in the embodiment of the present application, the required torque of the first motor is referred to as the first required torque, and the required torque of the second motor is referred to as the second required torque. After receiving the first required torque and the second required torque sent by the server 102, the terminal 101 can send the first required torque and the second required torque to the body control system. Accordingly, the implementation environment also includes: a body control system, which allocates corresponding required torques to the first motor and the second motor according to the first required torque and the second required torque.

[0076] In an embodiment of the present application, after the electronic device determines the correspondence between the rotational speed, the required total torque, the first torque distribution coefficient and the second torque distribution coefficient, the correspondence can also be stored in the body control system. In this way, during the driving of the vehicle, the body control system can directly determine the first required torque and the second required torque based on the correspondence, and then distribute the corresponding required torques to the first motor and the second motor.

[0077] The terminal 101 is at least one of a mobile phone, a tablet computer, a PC (Personal Computer), an intelligent voice interaction device, and a vehicle-mounted terminal. The server 102 can be at least one of a server, a server cluster consisting of multiple servers, a cloud server, a cloud computing platform, and a virtualization center.

[0078] Figure 2 is a flowchart of establishing and storing a corresponding relationship between a rotation speed, a required total torque, a first torque distribution coefficient and a second torque distribution coefficient provided by an embodiment of the present application, which is executed by an electronic device, see Figure 2 , the method comprising:

[0079] Step 201: The electronic device obtains a first power loss map and a second power loss map.

[0080] The first power loss diagram is used to reflect the power loss of the first motor in the vehicle at different speeds and different torques, and the second power loss diagram is used to reflect the power loss of the second motor in the vehicle at different speeds and different torques; in the driving direction of the vehicle, the position of the first motor is before the position of the second motor, that is, in the driving direction of the vehicle, the first motor is the front motor and the second motor is the rear motor.

[0081] In this step, the process of the electronic device acquiring the first power loss map can be implemented by the following steps (1) to (4), including:

[0082] (1) The electronic device obtains a first efficiency distribution diagram.

[0083] The first efficiency distribution diagram is used to reflect the motor efficiency distribution of the first motor at different speeds and different torques.

[0084] In this step, the electronic device may obtain the first efficiency distribution map from the motor supplier system, or may obtain the first efficiency distribution map manually imported. The motor supplier is used to supply the first motor.

[0085] In the embodiment of the present application, the electronic device may also obtain the first efficiency distribution map in other ways, and the way in which the electronic device obtains the first efficiency distribution map is not specifically limited herein.

[0086] (2) The electronic device determines the motor efficiency of the first motor at different speeds and different torques based on the first efficiency distribution diagram.

[0087] Since the first efficiency distribution diagram reflects the motor efficiency of the first motor at different speeds and different torques, the electronic device can determine the motor efficiency corresponding to the first motor at different speeds and different torques based on the first efficiency distribution diagram.

[0088] (3) The electronic device determines a power loss value corresponding to the first motor at the first speed and the first torque based on the motor efficiency of the first motor at the first speed and the second torque.

[0089] The first rotational speed is any rotational speed, and the second torque is any torque.

[0090] In this step, the electronic device can determine the power loss value corresponding to the first speed and the first torque of the vehicle according to the working mode corresponding to the vehicle. The process can be: the electronic device determines multiple working modes corresponding to the vehicle; determines the first relationship data corresponding to each working mode; based on the first relationship data corresponding to each working mode and the motor efficiency corresponding to the first motor at the first speed and the first torque, determines the power loss value of the first motor at the first speed and the first torque in each working mode. The first relationship data is used to reflect the relationship between the speed, torque, motor efficiency and power of the first motor.

[0091] In this implementation, the electronic device converts the motor efficiency of the first motor at any speed and any torque into the power loss value of the first motor at any speed and any torque through the first relationship data corresponding to different working modes.

[0092] For example, the working mode of the vehicle is the driving mode, and the first relationship data in this mode can be expressed as:

[0093]

[0094] Among them, ω represents the power loss value, T is the torque, N is the speed, and η is the motor efficiency.

[0095] For any speed and any torque, the electronic device determines the motor efficiency corresponding to the speed and torque, substitutes the speed, torque and motor efficiency into the first relationship data corresponding to the driving mode, and obtains the power loss value corresponding to the speed and torque.

[0096] For another example, the working mode of the vehicle is the recycling mode, and the first relational data in this mode can be expressed as:

[0097]

[0098] For any speed and any torque, the electronic device determines the motor efficiency corresponding to the speed and torque, substitutes the speed, torque and motor efficiency into the first relationship data corresponding to the recovery mode, and obtains the power loss value corresponding to the speed and torque.

[0099] The above only takes the vehicle's driving mode and recovery mode as examples. In actual applications, the vehicle has other modes, such as rear-wheel drive mode, four-wheel drive mode and fixed-proportion distribution mode, which are not listed here one by one.

[0100] (4) The electronic device determines a first power loss diagram based on power loss values ​​corresponding to the first motor at different speeds and different torques.

[0101] The electronic device draws the power loss values ​​corresponding to the first motor at different speeds and different torques to obtain a first power loss diagram.

[0102] The process of the electronic device determining the second power loss map is as follows: the electronic device obtains the second efficiency distribution map, and based on the second efficiency distribution map, determines the motor efficiency corresponding to the second motor at different speeds and different torques; based on the motor efficiency corresponding to the second motor at different speeds and different torques, determines the power loss value corresponding to the second motor at different speeds and different torques; based on the power loss value corresponding to the second motor at different speeds and different torques, determines the second power loss map. This process is the same as the process of the first power loss map, and will not be repeated here.

[0103] Step 202: The electronic device obtains a plurality of required total torques of the vehicle, a plurality of rotation speeds, and an array of torque distribution coefficients of the second motor.

[0104] The torque distribution coefficient array includes multiple torque distribution coefficients.

[0105] For the required total torque and speed, the electronic device can obtain multiple required total torques and multiple speeds through simulation software, or can obtain multiple required total torques and multiple speeds manually input, and there is no specific limitation on this. The required total torque is the total torque corresponding to the first motor and the second motor.

[0106] For the torque distribution coefficient array, the electronic device may directly obtain a determined torque distribution coefficient array, or may determine the torque distribution coefficient array through a target application, and there is no specific limitation on this.

[0107] In a possible implementation, the electronic device directly obtains the determined torque distribution coefficient array. The process may be: the electronic device determines the coefficient range corresponding to the torque distribution coefficient of the second motor; within the coefficient range, a torque distribution coefficient is determined at every preset interval to obtain multiple torque distribution coefficients; and the multiple torque distribution coefficients are combined into a torque distribution coefficient array.

[0108] In another possible implementation, the electronic device determines the torque distribution coefficient array based on the target application. The process may be: in response to the electronic device logging into the target application, the electronic device displays the main interface of the target application, and the main interface includes a torque distribution coefficient determination option. In response to the triggering operation of the torque distribution coefficient determination option, the electronic device displays the torque distribution coefficient determination interface, and the torque distribution coefficient determination interface includes a coefficient range setting option, a coefficient interval setting option, and an array determination option. In response to the triggering operation of the coefficient range setting option, the electronic device determines the coefficient range of the torque distribution coefficient; in response to the triggering operation of the coefficient interval setting option, the electronic device determines the coefficient interval of the torque distribution coefficient, that is, the preset interval; in response to the triggering operation of the array determination option, the electronic device determines a torque distribution coefficient every preset interval from the minimum value of the coefficient range until the maximum value of the coefficient range, and the electronic device obtains multiple torque distribution coefficients, and the multiple torque distribution coefficients are combined into a torque distribution coefficient array.

[0109] For example, the coefficient range of the torque distribution coefficient is 0 to 1, and the preset interval is 0.01, then the torque distribution coefficient array includes 101 torque distribution coefficients.

[0110] The multiple torque distribution coefficients in the torque distribution coefficient array may be arranged from small to large or from large to small, and there is no specific limitation on this. In addition, the target application may be a MATLAB application, which is a mathematical software that can be used in fields such as data analysis, deep learning, and control systems. The simulation software may be CRUISE software, which is an advanced simulation analysis software for studying vehicle dynamics, braking performance, and emission performance.

[0111] Step 203: For each required total torque, the electronic device determines a first torque array of the first motor and a second torque array of the second motor based on the required total torque and the torque distribution coefficient array.

[0112] In this step, the electronic device determines the product of the required total torque and each torque distribution coefficient in turn according to the position of each torque distribution coefficient in the torque distribution coefficient array, and obtains multiple required torques corresponding to the second motor. For the sake of distinction, the required torque corresponding to the second motor is called the second required torque, and the required torque corresponding to the first motor is called the first required torque.

[0113] The electronic device determines the difference between the required total torque and each second required torque to obtain a plurality of first required torques; the plurality of first required torques are formed into a first torque array, and the plurality of second required torques are formed into a second torque array, see Figure 3 .

[0114] It can be seen that a required total torque corresponds to a first torque array and a second torque array, and therefore, multiple required total torques correspond to multiple first torque arrays and multiple second torque arrays. In addition, since the electronic device determines the second required torque according to the position of each torque distribution coefficient in the torque distribution coefficient array, the arrangement of the second required torque in the second torque array is the same as the arrangement of the torque distribution coefficient in the torque distribution coefficient array, that is, if the multiple torque distribution coefficients in the torque distribution coefficient array are arranged in order from small to large, then the multiple second required torques in the second torque array are also arranged in order from small to large. If the multiple torque distribution coefficients in the torque distribution coefficient array are arranged in order from large to small, then the multiple second required torques in the second torque array are also arranged from large to small.

[0115] Step 204: The electronic device determines a first power loss array corresponding to the first motor based on the first power loss map, the first torque array and the plurality of rotational speeds.

[0116] The first power loss array includes a plurality of first power loss values.

[0117] In this step, the electronic device searches for first power loss values ​​corresponding to different speeds and different first required torques in the first power loss diagram based on multiple speeds and multiple first required torques in the first torque array, obtains multiple first power loss values, and organizes the multiple first power loss values ​​into a first power loss array.

[0118] Step 205: The electronic device determines a second power loss array corresponding to the second motor based on the second power loss map, the second torque array and the plurality of rotational speeds.

[0119] The second power loss array includes a plurality of second power loss values.

[0120] Based on multiple speeds and multiple second required torques in the second torque array, the electronic device searches for second power loss values ​​corresponding to different speeds and different second required torques in the second power loss map, obtains multiple second power loss values, and organizes the multiple second power loss values ​​into a second power loss array.

[0121] Step 206: The electronic device determines, based on the first power loss array and the second power loss array, a first torque distribution coefficient of the first motor and a second torque distribution coefficient of the second motor when the total power loss value is minimum.

[0122] For each first power loss value and its corresponding second power loss value, the electronic device determines the sum of the first power loss value and the second power loss value to obtain a total power loss value; determines the minimum total power loss value from multiple total power loss values; determines a target position in the second power loss array; determines the torque distribution coefficient corresponding to the target position in the torque distribution coefficient array, and uses the torque distribution coefficient corresponding to the target position as the second torque distribution coefficient. The target position is the position where the second power loss value corresponding to the minimum total power loss value is located.

[0123] In this implementation, a first power loss value corresponds to a second power loss value, and the electronic device determines the sum of each first power loss value and its corresponding second power loss value to obtain multiple total power loss values. The electronic device determines the minimum total power loss value from the multiple total power loss values, see Figure 4 Then, the electronic device determines the target position of the second power loss value corresponding to the minimum total power loss value in the second power loss array through the simulink module in the target application. Based on the target position, the second required torque corresponding to the target position is determined in the second torque array, and the torque distribution coefficient corresponding to the second required torque is determined in the torque distribution coefficient array, and the torque distribution coefficient is used as the second torque distribution coefficient, see Figure 5 Among them, the simulink module is a visual simulation tool in MATLAB.

[0124] The electronic device determines the difference between the torque distribution threshold and the second torque distribution coefficient to obtain the first torque distribution coefficient. The torque distribution threshold can be set and changed as needed. For example, the torque distribution threshold is 1, that is, when the second torque distribution coefficient is 0.60, the first torque distribution coefficient is 0.40.

[0125] It can be seen that the first torque distribution coefficient and the second torque distribution coefficient determined by the electronic device in the above manner can minimize the total power loss value of the first motor and the second motor, which can reduce energy consumption and increase the vehicle's cruising range.

[0126] Step 207: The electronic device establishes a corresponding relationship between the rotational speed, the required total torque, the first torque distribution coefficient and the second torque distribution coefficient, and stores the corresponding relationship.

[0127] The electronic device determines the speed corresponding to the minimum total power loss value, and then establishes a correspondence between the speed, the required total torque, the first torque distribution coefficient and the second torque distribution coefficient, and stores the correspondence. In this way, during the driving of the vehicle, the required torque of the first motor and the required torque of the second motor can be determined according to the correspondence, thereby allocating the corresponding required torques to the first motor and the second motor.

[0128] In an embodiment of the present application, the electronic device determines the power loss values ​​of the first motor and the second motor at different speeds and different required torques according to the power loss conditions of the first motor and the second motor at different speeds and different torques, and then determines the torque distribution coefficients of the first motor and the second motor when the total power loss value is minimized, and establishes a correspondence between the speed, the required total torque, the torque distribution coefficient of the first motor and the torque distribution coefficient of the second motor. In this way, during the driving of the vehicle, torque can be distributed to the first motor and the second motor according to the correspondence, so that the first motor and the second motor are in a working state with minimal power loss, thereby improving the vehicle's cruising range.

[0129] Figure 6 is a flowchart of determining the required torque of the first motor and the second motor based on the above correspondence provided by an embodiment of the present application, which is executed by an electronic device, see Figure 6 , the method comprising:

[0130] Step 601: When the vehicle is in a driving state, the electronic device obtains the actual rotation speed and the actual required total torque of the vehicle.

[0131] The electronic device can obtain the actual speed through the motor controller and obtain the actual required total torque through the engine controller. Accordingly, the process can be: the electronic device obtains the actual speed sent by the motor controller and the actual required total torque sent by the engine controller.

[0132] Among them, since the rotational speed of the first motor is the same as the rotational speed of the second motor, the motor controller can be a controller for controlling the first motor, or a controller for controlling the second motor, or the first motor and the second motor are controlled by one controller, that is, the motor controller is the controller of the first motor and the second motor.

[0133] Step 602: The electronic device determines the required torque of the first motor and the required torque of the second motor based on the actual rotation speed, the actual required total torque and the corresponding relationship.

[0134] In this step, the electronic device searches for the first torque distribution coefficient and the second torque distribution coefficient corresponding to the actual speed and the actual required total torque from the corresponding relationship based on the actual speed and the actual required total torque; determines the product of the actual required total torque and the first torque distribution coefficient to obtain the first required torque of the first motor; determines the product of the actual required total torque and the second torque distribution coefficient to obtain the second required torque of the second motor.

[0135] After the electronic device determines the first required torque and the second required torque, it can send the first required torque and the second required torque to the body control system. When sending the first required torque and the second required torque, the electronic device can associate the first required torque with the motor identification of the first motor, and associate the second required torque with the motor identification of the second motor. The body control system allocates the first required torque to the first motor according to the motor identification of the first motor, and allocates the second required torque to the second motor according to the motor identification of the second motor. In this way, the first motor and the second motor can drive the vehicle based on their respective allocated torques.

[0136] Since the required torque allocated to the first motor and the second motor is the torque corresponding to the minimum power loss, when the first motor and the second motor drive the vehicle based on their respective required torques, the energy consumption of the vehicle can be minimized, thereby improving the vehicle's cruising range.

[0137] One thing that needs to be explained is that the above is explained by taking the electronic device determining the required torque of the first motor and the second motor, and then allocating the required torque to the first motor and the second motor through the body control system as an example. In an embodiment of the present application, the body control system may also determine the required torque of the first motor and the second motor, and allocate the required torque to the first motor and the second motor. Correspondingly, the process may be: the body control system pre-stores the corresponding relationship. When the vehicle is in a driving state, the body control system obtains the actual speed and the actual required total torque of the vehicle, and determines the first required torque and the second required torque based on the actual speed, the actual required total torque and the corresponding relationship, and then allocates the first required torque to the first motor and the second required torque to the second motor.

[0138] Compared with the electronic device first determining the first required torque and the second required torque, and then sending them to the body control system, and the body control system then allocating the required torque to the first motor and the second motor, the body control system directly determines the first required torque and the second required torque, and then allocates the required torque to the first motor and the second motor. This method can reduce data transmission and improve torque distribution efficiency.

[0139] An embodiment of the present application provides a torque determination method, which determines the power loss values ​​of the first motor and the second motor at different speeds and different required torques according to the power loss conditions of the first motor and the second motor at different speeds and different torques, and then determines the torque distribution coefficients of the first motor and the second motor when the total power loss value is minimum, and establishes a corresponding relationship between the speed, the required total torque, the torque distribution coefficient of the first motor and the torque distribution coefficient of the second motor. During vehicle driving, torque is distributed to the first motor and the second motor according to the actual speed of the vehicle, the actual required total torque and the corresponding relationship, so that the first motor and the second motor can be in a working state with minimum power loss, thereby improving the vehicle's cruising range.

[0140] Figure 7 is a schematic diagram of a torque determination device provided in an embodiment of the present application, see Figure 7 , the device comprises:

[0141] The first acquisition module 701 is used to acquire a first power loss diagram and a second power loss diagram; the first power loss diagram is used to reflect the power loss of the first motor in the vehicle at different speeds and different torques, and the second power loss diagram is used to reflect the power loss of the second motor in the vehicle at different speeds and different torques; in the driving direction of the vehicle, the position of the first motor is before the position of the second motor;

[0142] The second acquisition module 702 is used to acquire a plurality of required total torques of the vehicle, a plurality of rotational speeds and a torque distribution coefficient array of the second motor; the torque distribution coefficient array includes a plurality of torque distribution coefficients;

[0143] A first determination module 703 is used to determine, for each required total torque, a first torque array of the first motor and a second torque array of the second motor based on the required total torque and the torque distribution coefficient array;

[0144] A second determination module 704 is used to determine a first power loss array corresponding to the first motor based on the first power loss map, the first torque array and the plurality of speeds; the first power loss array includes a plurality of first power loss values;

[0145] A third determination module 705 is used to determine a second power loss array corresponding to the second motor based on the second power loss map, the second torque array and the plurality of speeds; the second power loss array includes a plurality of second power loss values;

[0146] A fourth determination module 706, configured to determine, based on the first power loss array and the second power loss array, a first torque distribution coefficient of the first motor and a second torque distribution coefficient of the second motor when the total power loss value is minimum;

[0147] The storage module 707 is used to establish a corresponding relationship between the rotation speed, the required total torque, the first torque distribution coefficient and the second torque distribution coefficient, and store the corresponding relationship;

[0148] The fifth determination module 708 is used to determine the required torque of the first motor and the required torque of the second motor based on the actual speed of the vehicle, the actual required total torque and the corresponding relationship when the vehicle is in a driving state.

[0149] In one possible implementation, the first acquisition module 701 is used to acquire a first efficiency distribution diagram; the first efficiency distribution diagram is used to reflect the motor efficiency distribution of the first motor at different speeds and different torques; based on the first efficiency distribution diagram, the motor efficiency corresponding to the first motor at different speeds and different torques is determined; based on the motor efficiency corresponding to the first motor at the first speed and the first torque, the power loss value corresponding to the first motor at the first speed and the first torque is determined; based on the power loss value corresponding to the first motor at different speeds and different torques, the first power loss diagram is determined.

[0150] In another possible implementation, the first acquisition module 701 is used to determine multiple operating modes corresponding to the vehicle; determine the first relationship data corresponding to each operating mode; the first relationship data is used to reflect the relationship between the speed, torque, motor efficiency and power of the first motor; based on the first relationship data corresponding to each operating mode and the motor efficiency corresponding to the first motor at the first speed and the first torque, determine the power loss value of the first motor at the first speed and the first torque in each operating mode.

[0151] In another possible implementation, the first determination module 703 is used to determine the product of each torque distribution coefficient in the torque distribution coefficient array and the required total torque to obtain multiple required torques corresponding to the second motor; determine the difference between the required total torque and each required torque corresponding to the second motor to obtain multiple required torques corresponding to the first motor; and form the multiple required torques corresponding to the first motor into a first torque array, and form the multiple required torques corresponding to the second motor into a second torque array.

[0152] In another possible implementation, the fourth determination module 706 is used to determine the sum of the first power loss value and the second power loss value for each first power loss value and its corresponding second power loss value to obtain a total power loss value; determine the minimum total power loss value from multiple total power loss values; determine a target position in the second power loss array, the target position being the position of the second power loss value corresponding to the minimum total power loss value; determine the torque distribution coefficient corresponding to the target position in the torque distribution coefficient array, and use the torque distribution coefficient corresponding to the target position as the second torque distribution coefficient; determine the difference between the torque distribution threshold and the second torque distribution coefficient to obtain the first torque distribution coefficient.

[0153] In another possible implementation, the second acquisition module 702 is used to determine the coefficient range corresponding to the torque distribution coefficient of the second motor; within the coefficient range, a torque distribution coefficient is determined at every preset interval to obtain multiple torque distribution coefficients; and the multiple torque distribution coefficients are combined into a torque distribution coefficient array.

[0154] In another possible implementation, the fifth determination module 708 is used to search the first torque distribution coefficient and the second torque distribution coefficient corresponding to the actual speed and the actual required total torque from the corresponding relationship based on the actual speed and the actual required total torque; determine the product of the actual required total torque and the first torque distribution coefficient to obtain the required torque of the first motor; determine the product of the actual required total torque and the second torque distribution coefficient to obtain the required torque of the second motor.

[0155] An embodiment of the present application provides a torque determination device, which determines the power loss values ​​of the first motor and the second motor at different speeds and different required torques according to the power loss conditions of the first motor and the second motor at different speeds and different torques, and then determines the torque distribution coefficients of the first motor and the second motor when the total power loss value is minimized, establishes a corresponding relationship between the speed, the required total torque, the torque distribution coefficient of the first motor and the torque distribution coefficient of the second motor, and during vehicle driving, distributes torque to the first motor and the second motor according to the actual speed of the vehicle, the actual required total torque and the corresponding relationship, so that the first motor and the second motor can be in a working state with minimal power loss, thereby improving the vehicle's cruising range.

[0156] refer to Figure 8 , Figure 8 The structure block diagram of a terminal 800 provided by an exemplary embodiment of the present application is shown. The terminal 800 may be a portable mobile terminal, such as a smart phone, a tablet computer, an MP3 player (Moving Picture Experts Group Audio Layer III), an MP4 player (Moving Picture Experts Group Audio Layer IV), a laptop computer or a desktop computer. The terminal 800 may also be called a user device, a portable terminal, a laptop terminal, a desktop terminal or other names.

[0157] Typically, the terminal 800 includes a processor 801 and a memory 802 .

[0158] The processor 801 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 801 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 801 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 801 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 801 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0159] The memory 802 may include one or more computer-readable storage media, which may be non-transitory. The memory 802 may also include a high-speed random access memory and a non-volatile memory, such as one or more disk storage devices and flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 802 is used to store at least one program code, which is used to be executed by the processor 801 to implement the operation performed by the terminal in the torque determination method provided in the method embodiment of the present application.

[0160] In some embodiments, the terminal 800 may further optionally include: a peripheral device interface 803 and at least one peripheral device. The processor 801, the memory 802 and the peripheral device interface 803 may be connected via a bus or a signal line. Each peripheral device may be connected to the peripheral device interface 803 via a bus, a signal line or a circuit board. Specifically, the peripheral device includes: at least one of a radio frequency circuit 804, a display screen 805, a camera assembly 806, an audio circuit 807 and a power supply 808.

[0161] The peripheral device interface 803 may be used to connect at least one peripheral device related to I / O (Input / Output) to the processor 801 and the memory 802. In some embodiments, the processor 801, the memory 802, and the peripheral device interface 803 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 801, the memory 802, and the peripheral device interface 803 may be implemented on a separate chip or circuit board, which is not limited in this embodiment.

[0162] The radio frequency circuit 804 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuit 804 communicates with communication networks and other communication devices through electromagnetic signals. The radio frequency circuit 804 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals into electrical signals. Optionally, the radio frequency circuit 804 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, and the like. The radio frequency circuit 804 can communicate with other terminals through at least one wireless communication protocol. The wireless communication protocol includes, but is not limited to: the World Wide Web, a metropolitan area network, an intranet, various generations of mobile communication networks (2G, 3G, 4G and 5G), a wireless local area network and / or a WiFi (Wireless Fidelity) network. In some embodiments, the radio frequency circuit 804 may also include circuits related to NFC (Near Field Communication), which is not limited in this application.

[0163] The display screen 805 is used to display the UI (User Interface). The UI may include graphics, text, icons, videos, and any combination thereof. When the display screen 805 is a touch display screen, the display screen 805 also has the ability to collect touch signals on the surface or above the surface of the display screen 805. The touch signal can be input to the processor 801 as a control signal for processing. At this time, the display screen 805 can also be used to provide virtual buttons and / or virtual keyboards, also known as soft buttons and / or soft keyboards. In some embodiments, the display screen 805 can be one, set on the front panel of the terminal 800; in other embodiments, the display screen 805 can be at least two, respectively set on different surfaces of the terminal 800 or in a folding design; in other embodiments, the display screen 805 can be a flexible display screen, set on the curved surface or folding surface of the terminal 800. Even, the display screen 805 can also be set to a non-rectangular irregular shape, that is, a special-shaped screen. The display screen 805 can be made of materials such as LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode, organic light-emitting diode).

[0164] The camera assembly 806 is used to capture images or videos. Optionally, the camera assembly 806 includes a front camera and a rear camera. Typically, the front camera is arranged on the front panel of the terminal, and the rear camera is arranged on the back of the terminal. In some embodiments, there are at least two rear cameras, which are any one of a main camera, a depth of field camera, a wide-angle camera, and a telephoto camera, so as to realize the fusion of the main camera and the depth of field camera to realize the background blur function, the fusion of the main camera and the wide-angle camera to realize panoramic shooting and VR (Virtual Reality) shooting function or other fusion shooting functions. In some embodiments, the camera assembly 806 may also include a flash. The flash can be a monochrome temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm light flash and a cold light flash, which can be used for light compensation at different color temperatures.

[0165] The audio circuit 807 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, and convert the sound waves into electrical signals and input them into the processor 801 for processing, or input them into the radio frequency circuit 804 to achieve voice communication. For the purpose of stereo acquisition or noise reduction, there may be multiple microphones, which are respectively arranged at different parts of the terminal 800. The microphone may also be an array microphone or an omnidirectional acquisition microphone. The speaker is used to convert the electrical signal from the processor 801 or the radio frequency circuit 804 into sound waves. The speaker may be a traditional film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can not only convert the electrical signal into sound waves audible to humans, but also convert the electrical signal into sound waves inaudible to humans for purposes such as ranging. In some embodiments, the audio circuit 807 may also include a headphone jack.

[0166] The power supply 808 is used to power various components in the terminal 800. The power supply 808 can be an alternating current, a direct current, a disposable battery, or a rechargeable battery. When the power supply 808 includes a rechargeable battery, the rechargeable battery can be a wired rechargeable battery or a wireless rechargeable battery. A wired rechargeable battery is a battery charged through a wired line, and a wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0167] In some embodiments, the terminal 800 further includes one or more sensors 809 , including but not limited to: an acceleration sensor 810 , a gyroscope sensor 811 , a pressure sensor 812 , an optical sensor 813 , and a proximity sensor 814 .

[0168] The acceleration sensor 810 can detect the magnitude of acceleration on the three coordinate axes of the coordinate system established by the terminal 800. For example, the acceleration sensor 810 can be used to detect the components of gravity acceleration on the three coordinate axes. The processor 801 can control the display screen 805 to display the user interface in a horizontal view or a vertical view based on the gravity acceleration signal collected by the acceleration sensor 810. The acceleration sensor 810 can also be used to collect game or user motion data.

[0169] The gyroscope sensor 811 can detect the body direction and rotation angle of the terminal 800, and the gyroscope sensor 811 can cooperate with the acceleration sensor 810 to collect the user's 3D actions on the terminal 800. Based on the data collected by the gyroscope sensor 811, the processor 801 can implement the following functions: motion sensing (such as changing the UI based on the user's tilt operation), image stabilization during shooting, game control, and inertial navigation.

[0170] The pressure sensor 812 can be set on the side frame of the terminal 800 and / or the lower layer of the display screen 805. When the pressure sensor 812 is set on the side frame of the terminal 800, it can detect the user's holding signal of the terminal 800, and the processor 801 performs left and right hand recognition or shortcut operation based on the holding signal collected by the pressure sensor 812. When the pressure sensor 812 is set on the lower layer of the display screen 805, the processor 801 controls the operability controls on the UI interface based on the user's pressure operation on the display screen 805. The operability controls include at least one of a button control, a scroll bar control, an icon control, and a menu control.

[0171] The optical sensor 813 is used to collect the ambient light intensity. In one embodiment, the processor 801 can control the display brightness of the display screen 805 based on the ambient light intensity collected by the optical sensor 813. Specifically, when the ambient light intensity is high, the display brightness of the display screen 805 is increased; when the ambient light intensity is low, the display brightness of the display screen 805 is reduced. In another embodiment, the processor 801 can also dynamically adjust the shooting parameters of the camera component 806 based on the ambient light intensity collected by the optical sensor 813.

[0172] The proximity sensor 814, also called a distance sensor, is usually disposed on the front panel of the terminal 800. The proximity sensor 814 is used to collect the distance between the user and the front of the terminal 800. In one embodiment, when the proximity sensor 814 detects that the distance between the user and the front of the terminal 800 is gradually decreasing, the processor 801 controls the display screen 805 to switch from the screen-on state to the screen-off state; when the proximity sensor 814 detects that the distance between the user and the front of the terminal 800 is gradually increasing, the processor 801 controls the display screen 805 to switch from the screen-off state to the screen-on state.

[0173] Those skilled in the art will understand that Figure 8 The structure shown in the figure does not constitute a limitation on the terminal 800, and the terminal 800 may include more or less components than those shown in the figure, or combine some components, or adopt a different component arrangement.

[0174] The server structure diagram can be found in Fig. 9The server 900 may have relatively large differences due to different configurations or performances, and may include a processor (central processing unit, CPU) 901 and a memory 902, wherein the memory 902 stores at least one program code, and the at least one program code is loaded and executed by the processor 901 to implement the operations performed by the server in the above torque determination method. Of course, the server 900 may also have components such as a wired or wireless network interface, a keyboard, and an input and output interface for input and output, and the server 900 may also include other components for implementing device functions, which will not be described in detail here.

[0175] In an exemplary embodiment, a computer-readable storage medium is further provided. The computer-readable medium stores at least one program code. The at least one program code is loaded and executed by a processor to implement the torque determination method in the above embodiment.

[0176] In an exemplary embodiment, a computer program product is further provided. The computer program product stores at least one program code, and the at least one program code is loaded and executed by a processor to implement the torque determination method in the above embodiment.

[0177] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0178] The above description is only for the purpose of facilitating those skilled in the art to understand the technical solution of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for determining torque, characterized in that: The method comprises: Obtaining a first power loss diagram and a second power loss diagram; the first power loss diagram is used to reflect the power loss of a first motor in a vehicle at different speeds and different torques, and the second power loss diagram is used to reflect the power loss of a second motor in the vehicle at different speeds and different torques; in the driving direction of the vehicle, the position of the first motor is before the position of the second motor; Acquire a plurality of required total torques of the vehicle, a plurality of rotational speeds, and a torque distribution coefficient array of the second motor; the torque distribution coefficient array includes a plurality of torque distribution coefficients; For each required total torque, determining a first torque array of the first motor and a second torque array of the second motor based on the required total torque and the torque distribution coefficient array; Determine a first power loss array corresponding to the first motor based on the first power loss map, the first torque array and the plurality of speeds; the first power loss array includes a plurality of first power loss values; Determine a second power loss array corresponding to the second motor based on the second power loss map, the second torque array and the plurality of speeds; the second power loss array includes a plurality of second power loss values; Determining, based on the first power loss array and the second power loss array, a first torque distribution coefficient of the first motor and a second torque distribution coefficient of the second motor when the total power loss value is minimum; Establishing a corresponding relationship between the rotation speed, the required total torque, the first torque distribution coefficient and the second torque distribution coefficient, and storing the corresponding relationship; When the vehicle is in a driving state, the required torque of the first motor and the required torque of the second motor are determined based on the actual rotation speed of the vehicle, the actual required total torque and the corresponding relationship.

2. The method according to claim 1, characterized in that The process of obtaining the first power loss map includes: Obtaining a first efficiency distribution diagram; the first efficiency distribution diagram is used to reflect the motor efficiency distribution of the first motor at different speeds and different torques; Based on the first efficiency distribution diagram, determining the motor efficiency of the first motor at different speeds and different torques; Determining a power loss value of the first motor at the first speed and the first torque based on a motor efficiency of the first motor at the first speed and the first torque; The first power loss diagram is determined based on power loss values ​​corresponding to the first motor at different speeds and different torques.

3. The method according to claim 2, characterized in that The determining, based on the motor efficiency of the first motor at the first speed and the first torque, a power loss value corresponding to the first motor at the first speed and the first torque includes: Determining a plurality of operating modes corresponding to the vehicle; Determine first relationship data corresponding to each working mode; the first relationship data is used to reflect the relationship between the speed, torque, motor efficiency and power of the first motor; Based on the first relationship data corresponding to each operating mode and the motor efficiency of the first motor at the first speed and the first torque, the power loss value of the first motor at the first speed and the first torque in each operating mode is determined.

4. The method according to claim 1, characterized in that: The determining, based on the required total torque and the torque distribution coefficient array, a first torque array of the first motor and a second torque array of the second motor comprises: Determine the product of each torque distribution coefficient in the torque distribution coefficient array and the required total torque to obtain a plurality of required torques corresponding to the second motor; Determine a difference between the required total torque and each required torque corresponding to the second motor to obtain a plurality of required torques corresponding to the first motor; The multiple required torques corresponding to the first motor are combined into the first torque array, and the multiple required torques corresponding to the second motor are combined into the second torque array.

5. The method according to claim 1, characterized in that The determining, based on the first power loss array and the second power loss array, of a first torque distribution coefficient of the first motor and a second torque distribution coefficient of the second motor when the total power loss value is minimum includes: For each first power loss value and its corresponding second power loss value, determining a sum of the first power loss value and the second power loss value to obtain a total power loss value; determining a minimum total power loss value from a plurality of total power loss values; Determine a target position in the second power loss array, the target position being a position where the second power loss value corresponding to the minimum total power loss value is located; Determining the torque distribution coefficient corresponding to the target position in the torque distribution coefficient array, and using the torque distribution coefficient corresponding to the target position as the second torque distribution coefficient; The difference between the torque distribution threshold and the second torque distribution coefficient is determined to obtain the first torque distribution coefficient.

6. The method according to claim 1, characterized in that The process of obtaining the torque distribution coefficient array includes: Determining a coefficient range corresponding to a torque distribution coefficient of the second motor; Within the coefficient range, a torque distribution coefficient is determined at every preset interval to obtain a plurality of torque distribution coefficients; The plurality of torque distribution coefficients are combined into the torque distribution coefficient array.

7. The method according to claim 1, characterized in that The determining the required torque of the first motor and the required torque of the second motor based on the actual speed of the vehicle, the actual required total torque and the corresponding relationship includes: Based on the actual speed and the actual required total torque, searching from the corresponding relationship for a first torque distribution coefficient and a second torque distribution coefficient corresponding to the actual speed and the actual required total torque; Determine the product of the actual required total torque and the first torque distribution coefficient to obtain the required torque of the first motor; The product of the actual required total torque and the second torque distribution coefficient is determined to obtain the required torque of the second motor.

8. A torque determination device, characterized in that: The device comprises: a first acquisition module, configured to acquire a first power loss diagram and a second power loss diagram; the first power loss diagram is configured to reflect the power loss of a first motor in a vehicle at different speeds and different torques, and the second power loss diagram is configured to reflect the power loss of a second motor in the vehicle at different speeds and different torques; in the driving direction of the vehicle, the position of the first motor is before the position of the second motor; A second acquisition module, configured to acquire a plurality of required total torques of the vehicle, a plurality of rotational speeds, and a torque distribution coefficient array of the second motor; the torque distribution coefficient array includes a plurality of torque distribution coefficients; A first determination module, configured to determine, for each required total torque, a first torque array of the first motor and a second torque array of the second motor based on the required total torque and the torque distribution coefficient array; A second determination module, configured to determine a first power loss array corresponding to the first motor based on the first power loss map, the first torque array, and the plurality of speeds; the first power loss array including a plurality of first power loss values; A third determination module, configured to determine a second power loss array corresponding to the second motor based on the second power loss map, the second torque array and the plurality of speeds; the second power loss array including a plurality of second power loss values; a fourth determination module, configured to determine, based on the first power loss array and the second power loss array, a first torque distribution coefficient of the first motor and a second torque distribution coefficient of the second motor when a total power loss value is minimum; A storage module, used to establish a corresponding relationship between the rotation speed, the required total torque, the first torque distribution coefficient and the second torque distribution coefficient, and store the corresponding relationship; The fifth determination module is used to determine the required torque of the first motor and the required torque of the second motor based on the actual rotation speed of the vehicle, the actual required total torque and the corresponding relationship when the vehicle is in a driving state.

9. An electronic device, characterized in that: The electronic device includes a processor and a memory, wherein at least one program code is stored in the memory, and the at least one program code is loaded and executed by the processor to implement the torque determination method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: At least one program code is stored in the computer-readable storage medium, and the at least one program code is loaded and executed by the processor to implement the torque determination method according to any one of claims 1 to 7.

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