Control method and control device of vehicle output torque and vehicle

Abstract

The application discloses a vehicle output torque control method and device and a vehicle. The vehicle comprises a front axle motor configured to drive front wheels and a rear axle motor configured to drive rear wheels. The method comprises the following steps: acquiring lateral acceleration of the vehicle; determining a torque distribution strategy according to the lateral acceleration, and determining front axle output torque and rear axle output torque according to the torque distribution strategy. Thus, the method determines the running condition of the current vehicle based on the acquired lateral acceleration of the vehicle, so as to determine the torque distribution strategy according to different running conditions, thereby ensuring the running stability of the vehicle under different running conditions.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a method for controlling vehicle output torque, a device for controlling vehicle output torque, and a vehicle. Background Technology

[0002] Electric vehicles with dual front and rear motors feature decoupled front and rear drive torque. During straight-line acceleration, both motors output maximum drive torque, achieving optimal straight-line acceleration performance. However, when accelerating through corners, the vehicle still employs a torque-priority control strategy. This can lead to insufficient lateral grip on the front wheels due to excessive longitudinal traction, resulting in understeer and hindered acceleration out of corners, ultimately impeding cornering speed. Summary of the Invention

[0003] This invention aims to at least partially solve one of the technical problems in related technologies. Therefore, the first objective of this invention is to propose a method for controlling vehicle output torque, which determines the current operating condition of the vehicle based on the acquired lateral acceleration, and then determines a torque distribution strategy according to different operating conditions to ensure the vehicle's operational stability under different operating conditions.

[0004] The second objective of this invention is to provide a control device for vehicle output torque.

[0005] The third objective of this invention is to provide a vehicle.

[0006] To achieve the above objectives, a first aspect of the present invention provides a method for controlling the output torque of a vehicle. The vehicle includes a front axle motor and a rear axle motor, the front axle motor being configured to drive the front wheels and the rear axle motor being configured to drive the rear wheels. The method for controlling the output torque of the vehicle includes: acquiring the lateral acceleration of the vehicle; determining a torque distribution strategy based on the lateral acceleration; and determining the front axle output torque and the rear axle output torque based on the torque distribution strategy.

[0007] According to an embodiment of the present invention, a vehicle output torque control method includes a front axle motor and a rear axle motor. The front axle motor is configured to drive the front wheels, and the rear axle motor is configured to drive the rear wheels. The method first acquires the lateral acceleration of the vehicle, then determines a torque distribution strategy based on the lateral acceleration, and finally determines the front axle output torque and the rear axle output torque based on the torque distribution strategy. Thus, the method determines the current operating condition of the vehicle based on the acquired lateral acceleration, and thereby determines a torque distribution strategy according to different operating conditions to ensure the vehicle's operational stability under different operating conditions.

[0008] In addition, the vehicle output torque control method according to the above embodiments of the present invention may also have the following additional technical features:

[0009] According to one embodiment of the present invention, determining the torque distribution strategy based on lateral acceleration includes: when the lateral acceleration is less than a first acceleration threshold, the torque distribution strategy is a first control strategy, wherein the first control strategy is a torque-priority control strategy; when the lateral acceleration is greater than a second acceleration threshold, the torque distribution strategy is a second control strategy, wherein the second control strategy is a proportional-priority control strategy; and when the lateral acceleration is greater than or equal to the first acceleration threshold and less than or equal to the second acceleration threshold, the torque distribution strategy is a third control strategy, wherein the third control strategy is a compromise strategy between the proportional-priority control strategy and the torque-priority control strategy.

[0010] According to an embodiment of the present invention, the method for controlling the output torque of a vehicle further includes: obtaining the total required torque and the maximum allowable output value of the rear axle torque; taking the smaller of the product of the total required torque and the initial allocation coefficient and the maximum allowable output value of the rear axle torque as the initial rear axle torque; and determining the initial front axle torque based on the difference between the total required torque and the initial rear axle torque.

[0011] According to one embodiment of the present invention, the method for controlling vehicle output torque further includes: obtaining torque-priority front axle output torque based on a first control strategy and proportion-priority front axle output torque based on a second control strategy, based on an initial front axle torque, an initial rear axle torque and an initial distribution coefficient.

[0012] According to an embodiment of the present invention, the torque-priority front axle output torque and the proportional-priority front axle output torque are obtained by the following formulas:

[0013] T f1 =T f

[0014]

[0015] Among them, T f1 This indicates the torque priority of the front axle output torque, T. f T represents the initial front axle torque. f2 This indicates the proportional priority front axle output torque, r1 represents the initial distribution coefficient, and T req T represents the total torque demand. rmax This indicates the maximum allowable output value of the rear axle torque, while min() indicates taking the smaller value to obtain the initial rear axle torque.

[0016] According to one embodiment of the present invention, determining the front axle output torque and the rear axle output torque based on a torque distribution strategy includes: when the torque distribution strategy is a third control strategy, obtaining a proportional priority correction coefficient; and determining the front axle output torque and the rear axle output torque based on the proportional priority correction coefficient, the torque priority front axle output torque, the proportional priority front axle output torque, and the initial rear axle torque.

[0017] According to one embodiment of the present invention, the proportional priority correction coefficient is obtained by the following formula:

[0018] r2=min(max((a-a1) / (a2-a1),0),1)

[0019] Where r2 represents the proportional priority correction coefficient, a represents the lateral acceleration, a1 represents the first acceleration threshold, a2 represents the second acceleration threshold, min() represents taking the smaller value, and max() represents taking the larger value;

[0020] The front axle output torque and rear axle output torque can be obtained using the following formulas:

[0021] T ff =T f1 ·(1-r2)+T f2 ·r2

[0022] T rr =T r

[0023] Among them, T ff T represents the front axle output torque. rr R represents the rear axle output torque, r2 represents the proportional priority correction coefficient, and T represents the torque output from the rear axle. r This indicates the initial rear axle torque.

[0024] According to one embodiment of the present invention, determining the front axle output torque and the rear axle output torque based on a torque distribution strategy includes: when the torque distribution strategy is a first control strategy, using the torque-priority front axle output torque as the front axle output torque and the initial rear axle torque as the rear axle output torque; when the torque distribution strategy is a second control strategy, using the proportional-priority front axle output torque as the front axle output torque and the initial rear axle torque as the rear axle output torque.

[0025] To achieve the above objectives, a second aspect of the present invention provides a vehicle output torque control device. The vehicle includes a front axle motor and a rear axle motor, the front axle motor being configured to drive the front wheels and the rear axle motor being configured to drive the rear wheels. The vehicle output torque control device includes: an acquisition module for acquiring the lateral acceleration of the vehicle; and a determination module for determining a torque distribution strategy based on the lateral acceleration, and determining the front axle output torque and the rear axle output torque based on the torque distribution strategy.

[0026] According to an embodiment of the present invention, a vehicle output torque control device acquires the lateral acceleration of the vehicle through an acquisition module, determines a torque distribution strategy based on the lateral acceleration through a determination module, and determines the front axle output torque and the rear axle output torque based on the torque distribution strategy. Thus, the device determines the current operating condition of the vehicle based on the acquired lateral acceleration, and thereby determines a torque distribution strategy according to different operating conditions to ensure the vehicle's operational stability under different operating conditions.

[0027] To achieve the above objectives, a third aspect of the present invention provides a vehicle, including a memory, a processor, and a vehicle output torque control program stored in the memory and executable on the processor. When the processor executes the vehicle output torque control program, it implements the above-described vehicle output torque control method.

[0028] According to the vehicle of the present invention, based on the above-described vehicle output torque control method, the current operating condition of the vehicle is determined based on the acquired lateral acceleration of the vehicle, thereby determining a torque distribution strategy according to different operating conditions to ensure the vehicle's operating stability under different operating conditions.

[0029] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0030] Figure 1 A flowchart of a vehicle output torque control method according to an embodiment of the present invention;

[0031] Figure 2 A block diagram of a vehicle according to an embodiment of the present invention;

[0032] Figure 3 A flowchart of a vehicle output torque control method according to a specific embodiment of the present invention;

[0033] Figure 4 This is a block diagram of a vehicle output torque control device according to an embodiment of the present invention;

[0034] Figure 5 This is a block diagram of a vehicle according to an embodiment of the present invention. Detailed Implementation

[0035] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0036] The following description, with reference to the accompanying drawings, describes the vehicle output torque control method, the vehicle output torque control device, and the vehicle proposed in the embodiments of the present invention.

[0037] Figure 1 This is a flowchart of a vehicle output torque control method according to an embodiment of the present invention.

[0038] In one embodiment of the present invention, such as Figure 2 As shown, the vehicle includes a front axle motor 1 and a rear axle motor 2. The front axle motor 1 is configured to drive the front wheels 3, and the rear axle motor 2 is configured to drive the rear wheels 4. In other words, this vehicle is an electric four-wheel drive vehicle with dual front and rear motors. The front axle motor 1 and the rear axle motor 2 are respectively connected to the battery 5, and have the characteristic of complete decoupling of front and rear drive torque.

[0039] like Figure 1 As shown, the vehicle output torque control method of this embodiment of the invention may include the following steps:

[0040] S1, obtain the lateral acceleration a of the vehicle;

[0041] S2, determine the torque distribution strategy based on the lateral acceleration a, and determine the front axle output torque T based on the torque distribution strategy. ff and rear axle output torque T rr .

[0042] Specifically, during vehicle operation, the lateral acceleration 'a' of the current vehicle is monitored and acquired to identify the vehicle's lateral dynamics. Based on the magnitude of the lateral dynamics, the torque distribution is determined, thus establishing the vehicle's torque distribution strategy. The front axle output torque T is then calculated based on this determined torque distribution strategy. ff and rear axle output torque T rr Front axle output torque T ff Control the front axle motor to output torque T to the rear axle. rr The rear axle motor is controlled to ensure good vehicle performance during straight-line acceleration or cornering acceleration, thus guaranteeing the vehicle's operational stability under different operating conditions.

[0043] According to one embodiment of the present invention, determining the torque distribution strategy based on the lateral acceleration *a* includes: when the lateral acceleration *a* is less than a first acceleration threshold *a1*, the torque distribution strategy is a first control strategy, wherein the first control strategy is a torque-priority control strategy; when the lateral acceleration *a* is greater than a second acceleration threshold *a2*, the torque distribution strategy is a second control strategy, wherein the second control strategy is a proportional-priority control strategy; when the lateral acceleration *a* is greater than or equal to the first acceleration threshold *a1* and less than or equal to the second acceleration threshold *a2*, the torque distribution strategy is a third control strategy, wherein the third control strategy is a compromise between the proportional-priority control strategy and the torque-priority control strategy. The first acceleration threshold *a1* and the second acceleration threshold *a2* can be set according to actual conditions.

[0044] Specifically, the acquired lateral acceleration *a* of the current vehicle is compared with a first acceleration threshold *a1* and a second acceleration threshold *a2*. When the lateral acceleration *a* is determined to be less than the first acceleration threshold *a1*, the current vehicle is considered to be in a straight-line acceleration condition due to its relatively small lateral acceleration. In this case, a torque-priority distribution strategy is adopted to ensure maximum traction and pursue straight-line acceleration performance. When the lateral acceleration *a* is determined to be greater than the second acceleration threshold *a2*, the current vehicle is considered to be in a cornering acceleration condition due to its relatively large lateral acceleration. In this case, the torque-priority control strategy is abandoned, and a proportional-priority distribution strategy is adopted to ensure front wheel lateral grip and steering characteristics, and pursue cornering acceleration performance. In the proportional-priority distribution strategy, the output torque of the front axle motor and the rear axle motor is strictly output according to the real-time proportional coefficient. At this time, the sum of the torque outputs of the front axle motor and the rear axle motor is less than the total torque requirement. When the lateral acceleration *a* is determined to be greater than or equal to the first acceleration threshold *a1* and less than or equal to the second acceleration threshold *a2*, the vehicle is considered to be under moderate lateral acceleration. This indicates the vehicle is in a transitional phase between straight-line acceleration and cornering acceleration. Therefore, the torque distribution strategy employed is between proportional priority and torque priority, achieved through a smooth compromise between these two approaches. The aforementioned cornering acceleration phase is analogous to the "corner exit acceleration" or "acceleration out of a corner" commonly used in racing, and is considered an extreme driving condition.

[0045] Therefore, this control method not only ensures the performance of straight-line acceleration, but also solves the understeer problem of cornering acceleration, thus improving cornering acceleration performance, and also ensures a smooth transition of torque output between the two conditions.

[0046] The following describes the front axle output torque T under three control strategies. ff and rear axle output torque T rr The method for determining it will be explained in detail.

[0047] According to one embodiment of the present invention, the method for controlling the output torque of a vehicle further includes: obtaining the required total torque T. req and the maximum allowable output T of the rear axle torque rmax ; Total torque demand T req The product of the initial distribution coefficient r1 and the maximum allowable output T of the rear axle torque. rmax Perform the smaller value operation to obtain the initial rear axle torque T. r Based on the required total torque T req With the initial rear axle torque T r The difference between them determines the initial front axle torque T. f .

[0048] Specifically, in calculating the front axle output torque T under the three control strategies... ff and rear axle output torque T rr Previously, the total torque T was determined first. req The maximum allowable output torque T of the rear axle rmax Calculate the initial rear axle torque T using the initial distribution coefficient r1. r and initial front axle torque T f .

[0049] Among them, the initial rear axle torque T r The calculation formula is:

[0050] T r =min(T) req · r1,T rmax (1)

[0051] Initial front axle torque T f The calculation formula is:

[0052] T f =T rep -min(T req · r1,T rmax ) = T rep -T r (2)

[0053] Among them, T r T represents the initial rear axle torque. req R represents the total torque demand, r1 represents the initial distribution coefficient, and T rmax This indicates the maximum allowable output torque of the rear axle, and min() indicates taking the smaller value. f This indicates the initial front axle torque.

[0054] In other words, the first step is to determine the total torque T required by the vehicle. req The maximum allowable output torque T of the rear axle rmaxAnd the initial distribution coefficient r1, which is substituted into formula (1) to calculate the initial rear axle torque T. r Because of the initial rear axle torque T r With the initial front axle torque T f The sum of these is the total torque demand T. req Therefore, the initial rear axle torque T calculated by formula (1) r Substituting into formula (2), the initial front axle torque T can be calculated. f The initial allocation coefficient r1 mentioned above can be set according to the actual situation, and there is no restriction here.

[0055] According to one embodiment of the present invention, the method for controlling the vehicle output torque further includes: based on the initial front axle torque T f Initial rear axle torque T r The torque T of the front axle is obtained by using the initial allocation coefficient r1 under the first control strategy, prioritizing torque. f1 and the proportional-priority front axle output torque T based on the second control strategy f2 .

[0056] According to an embodiment of the present invention, the torque-priority front axle output torque T is obtained by the following formula. f1 Proportional priority front axle output torque T f2 :

[0057] T f1 =T f

[0058]

[0059] Among them, T f1 This indicates the torque priority of the front axle output torque, T. f T represents the initial front axle torque. f2 This indicates the proportional priority front axle output torque, r1 represents the initial distribution coefficient, and T req T represents the total torque demand. rmax This indicates the maximum allowable output value of the rear axle torque, and min() indicates taking the minimum value to obtain the initial rear axle torque T. r .

[0060] According to one embodiment of the present invention, the front axle output torque T is determined based on a torque distribution strategy. ff and rear axle output torque T rr This includes: when the torque distribution strategy is the first control strategy, prioritizing the output torque T of the front axle. f1 As the front axle output torque T ff and the initial rear axle torque T r As the rear axle output torque T rrWhen the torque distribution strategy is the second control strategy, the proportional priority is given to the front axle output torque T. f2 As the front axle output torque T ff and the initial rear axle torque T r As the rear axle output torque T rr .

[0061] Specifically, when the lateral acceleration a is less than the first acceleration threshold a1, the first control strategy prioritizing torque is adopted, and the initial front axle torque T is calculated using the above formula (2). f Substituting into formula (3), the torque-priority front axle output torque T is calculated. f1 And use this as the front axle output torque T ff The initial rear axle torque T calculated using the above formula (1) r As the rear axle output torque T rr In other words, when the vehicle adopts a torque-priority control strategy, the front axle output torque T... ff =T f1 =T f Rear axle output torque T rr =T r Therefore, when the vehicle is in a straight-line acceleration condition, a torque-priority first control strategy is adopted to ensure that the sum of the torque outputs of the front axle motor and the rear axle is always equal to the total torque required. Thus, during the execution of the total torque required, there is no reduction or attenuation, ensuring maximum traction and pursuing straight-line acceleration performance.

[0062] When the lateral acceleration a is greater than the second acceleration threshold a2, the proportional priority second control strategy is adopted, and the initial allocation coefficient r1 and the initial rear axle torque T calculated by the above formula (1) are used. r Substituting into formula (3), the proportional priority front axle output torque T is calculated. f2 And use this as the front axle output torque T ff The initial rear axle torque T calculated using the above formula (1) r As the rear axle output torque T rr In other words, when the vehicle adopts the proportional-priority second control strategy, the front axle output torque T ff =T f2 Rear axle output torque T rr =T r Therefore, when the vehicle is accelerating through a curve, a proportional-priority second control strategy is adopted. The output torque of the front axle motor and the rear axle motor is strictly output according to the real-time ratio. At this time, the sum of the output of the front axle motor and the rear axle motor is less than the total torque required, ensuring the lateral grip and steering characteristics of the front wheels. This solves the problem of understeer in the curve acceleration condition and improves the vehicle's curve acceleration performance.

[0063] According to one embodiment of the present invention, the front axle output torque T is determined based on a torque distribution strategy. ff The rear axle output torque includes: obtaining the proportional priority correction coefficient r2 when the torque distribution strategy is the third control strategy; and determining the torque priority front axle output torque T based on the proportional priority correction coefficient r2 and the torque priority front axle output torque T. f1 Proportional priority front axle output torque T f2 and initial rear axle torque T r Determine the front axle output torque T ff and rear axle output torque T rr .

[0064] According to one embodiment of the present invention, the proportional priority correction coefficient r2 is obtained by the following formula:

[0065] r2=min(max((a-a1) / (a2-a1),0),1) (4)

[0066] Where r2 represents the proportional priority correction coefficient, a represents the lateral acceleration, a1 represents the first acceleration threshold, a2 represents the second acceleration threshold, min() represents taking the smaller value, and max() represents taking the larger value.

[0067] According to an embodiment of the present invention, the front axle output torque T is obtained by the following formula. ff and rear axle output torque T rr :

[0068] T ff =T f1 ·(1-r2)+T f2 ·r2 (5)

[0069] T rr =T r

[0070] Among them, T ff T represents the front axle output torque. rr R represents the rear axle output torque, r2 represents the proportional priority correction coefficient, and T represents the torque output from the rear axle. r This indicates the initial rear axle torque.

[0071] Specifically, when the lateral acceleration *a* of the vehicle is greater than or equal to the first acceleration threshold *a1* and less than or equal to the second acceleration threshold *a2*, and the third control strategy is adopted, firstly, the proportional priority correction coefficient *r2* is calculated using formula (4). In the calculation of the proportional priority correction coefficient *r2*, an algorithm is used to take the smaller value from the first acceleration threshold *a1* and the second acceleration threshold *a2*, replacing conditional judgment and ensuring the smoothness of torque transition. Then, the proportional priority correction coefficient *r2* obtained by formula (4) and the torque priority front axle output torque *T* calculated by formula (3) are combined...f1 Proportional priority front axle output torque T f2 Substituting into formula (5), the front axle output torque T is calculated. ff And according to formula (5), the initial rear axle torque T obtained by formula (1) above is... r As the rear axle output torque T rr .

[0072] In other words, when the vehicle adopts the third control strategy, the front axle output torque T ff The rear axle output torque T is calculated based on smoothing processing. rr =T r Therefore, when the vehicle is in a moderate lateral acceleration condition between straight-line acceleration and cornering acceleration, a third control strategy, which is between proportional priority and torque priority, is adopted. By smoothing out the trade-off between proportional priority and torque priority control strategies, the torque output of the front axle motor and the rear axle motor is ensured to transition smoothly between the two different conditions.

[0073] Furthermore, this control method monitors the vehicle's lateral dynamics and total torque demand. During the execution of the total torque demand, it judges the current vehicle operating condition in real time to determine the specific control strategy. In terms of control effect, the above control strategy inherits the performance of the straight-line acceleration condition, solves the understeer problem of the cornering acceleration condition, improves the cornering acceleration performance, and at the same time, it can also ensure a smooth transition of torque output between the two different operating conditions.

[0074] As a specific embodiment of this application, such as Figure 3 As shown, the method for controlling the output torque of this vehicle may include the following steps:

[0075] S101, Obtain the required total torque T req and the maximum allowable output T of the rear axle torque rmax .

[0076] S102, Calculate the initial rear axle torque T r =min(T) req ·r1,T rmax ).

[0077] S103, Calculate the initial front axle torque T f =T rep -min(T req ·r1,T rmax ) = T rep -T r .

[0078] S104, obtain the vehicle's lateral acceleration a.

[0079] S105, determine whether the lateral acceleration a is less than the first acceleration threshold a1; if yes, proceed to step S106; if no, proceed to step S109.

[0080] S106, the torque distribution strategy is determined to be the first control strategy.

[0081] S107, Calculate the torque-priority front axle output torque T f1 =T f .

[0082] S108, Determine the front axle output torque T ff =T f1 Rear axle output torque T rr =T r Proceed to step S116.

[0083] S109, determine whether the lateral acceleration a is greater than the second acceleration threshold a2. If yes, proceed to step S110; if no, proceed to step S113.

[0084] S110, determine the torque distribution strategy as the second control strategy.

[0085] S111, calculate the proportional-priority front axle output torque.

[0086] S112, Determine the front axle output torque T ff =T f2 Rear axle output torque T rr =T r Proceed to step S116.

[0087] S113, determine the torque distribution strategy as the third control strategy.

[0088] S114, calculate and obtain the proportional priority correction coefficient r2=min(max((a-a1) / (a2-a1),0),1).

[0089] S115, determine the front axle output torque T ff =T f1 ·(1-r2)+T f2 ·r2, rear axle output torque T rr =T r .

[0090] S116, front axle output torque T ff and rear axle output torque T rr To control the vehicle.

[0091] In summary, according to the vehicle output torque control method of the present invention, the vehicle includes a front axle motor and a rear axle motor. The front axle motor is configured to drive the front wheels, and the rear axle motor is configured to drive the rear wheels. The method first acquires the lateral acceleration of the vehicle, then determines a torque distribution strategy based on the lateral acceleration, and finally determines the front axle output torque and the rear axle output torque based on the torque distribution strategy. Therefore, this method determines the current operating condition of the vehicle based on the acquired lateral acceleration, and thus determines a torque distribution strategy according to different operating conditions to ensure the vehicle's operational stability under different operating conditions.

[0092] Corresponding to the above embodiments, the present invention also proposes a vehicle output torque control device.

[0093] According to one embodiment of the present invention, the vehicle includes a front axle motor and a rear axle motor, the front axle motor being configured to drive the front wheels and the rear axle motor being configured to drive the rear wheels.

[0094] like Figure 4 As shown, the vehicle output torque control device of this embodiment of the invention may include: an acquisition module 10 and a determination module 20.

[0095] The acquisition module 10 is used to acquire the lateral acceleration of the vehicle. The determination module 20 is used to determine the torque distribution strategy based on the lateral acceleration, and to determine the front axle output torque and the rear axle output torque based on the torque distribution strategy.

[0096] According to one embodiment of the present invention, the determining module 20 determines a torque distribution strategy based on lateral acceleration, specifically configured to: when the lateral acceleration is less than a first acceleration threshold, the torque distribution strategy is a first control strategy, wherein the first control strategy is a torque-priority control strategy; when the lateral acceleration is greater than a second acceleration threshold, the torque distribution strategy is a second control strategy, wherein the second control strategy is a proportional-priority control strategy; when the lateral acceleration is greater than or equal to the first acceleration threshold and less than or equal to the second acceleration threshold, the torque distribution strategy is a third control strategy, wherein the third control strategy is a compromise strategy between the proportional-priority control strategy and the torque-priority control strategy.

[0097] According to one embodiment of the present invention, the vehicle output torque control device further includes: a first acquisition module, a calculation module, and a first determination module.

[0098] The first acquisition module is used to acquire the total required torque and the maximum allowable output value of the rear axle torque. The calculation module is used to take the smaller of the product of the total required torque and the initial allocation coefficient and the maximum allowable output value of the rear axle torque as the initial rear axle torque. The first determination module is used to determine the initial front axle torque based on the difference between the total required torque and the initial rear axle torque.

[0099] According to one embodiment of the present invention, the determining module 20 is further configured to obtain the torque-priority front axle output torque under a first control strategy and the proportion-priority front axle output torque under a second control strategy based on the initial front axle torque, the initial rear axle torque and the initial allocation coefficient.

[0100] According to one embodiment of the present invention, the determining module 20 obtains the torque-priority front axle output torque and the proportion-priority front axle output torque through the following formulas:

[0101] T f1 =T f

[0102]

[0103] Among them, T f1 This indicates the torque priority of the front axle output torque, T. f T represents the initial front axle torque. f2 This indicates the proportional priority front axle output torque, r1 represents the initial distribution coefficient, and T req T represents the total torque demand. rmax This indicates the maximum allowable output value of the rear axle torque, while min() indicates taking the smaller value to obtain the initial rear axle torque.

[0104] According to an embodiment of the present invention, the determining module 20 determines the front axle output torque and the rear axle output torque according to the torque distribution strategy, specifically used for: obtaining the proportional priority correction coefficient when the torque distribution strategy is the third control strategy; and determining the front axle output torque and the rear axle output torque according to the proportional priority correction coefficient, the torque priority front axle output torque, the proportional priority front axle output torque and the initial rear axle torque.

[0105] According to one embodiment of the present invention, the determining module 20 obtains the proportional priority correction coefficient using the following formula:

[0106] r2=min(max((a-a1) / (a2-a1),0),1)

[0107] Where r2 represents the proportional priority correction coefficient, a represents the lateral acceleration, a1 represents the first acceleration threshold, a2 represents the second acceleration threshold, min() represents taking the smaller value, and max() represents taking the larger value.

[0108] According to an embodiment of the present invention, the determining module 20 obtains the front axle output torque and the rear axle output torque using the following formula:

[0109] T ff =T f1 ·(1-r2)+T f2 ·r2

[0110] T rr =Tr

[0111] Among them, T ff T represents the front axle output torque. rr R represents the rear axle output torque, r2 represents the proportional priority correction coefficient, and T represents the torque output from the rear axle. r This indicates the initial rear axle torque.

[0112] According to an embodiment of the present invention, the determining module 20 determines the front axle output torque and the rear axle output torque according to the torque distribution strategy, specifically used for: when the torque distribution strategy is a first control strategy, using the torque-priority front axle output torque as the front axle output torque and the initial rear axle torque as the rear axle output torque; when the torque distribution strategy is a second control strategy, using the proportional-priority front axle output torque as the front axle output torque and the initial rear axle torque as the rear axle output torque.

[0113] It should be noted that for details not disclosed in the vehicle output torque control device of the present invention, please refer to the details disclosed in the vehicle output torque control method of the above embodiments of the present invention, which will not be repeated here.

[0114] According to an embodiment of the present invention, a vehicle output torque control device acquires the lateral acceleration of the vehicle through an acquisition module, determines a torque distribution strategy based on the lateral acceleration through a determination module, and determines the front axle output torque and the rear axle output torque based on the torque distribution strategy. Thus, the device determines the current operating condition of the vehicle based on the acquired lateral acceleration, and thereby determines a torque distribution strategy according to different operating conditions to ensure the vehicle's operational stability under different operating conditions.

[0115] Corresponding to the above embodiments, the present invention also proposes a vehicle.

[0116] like Figure 5 As shown, the vehicle 100 of this embodiment includes a storage 110, a processor 120, and a vehicle output torque control program stored in the storage 110 and executable on the processor 120. When the processor 120 executes the vehicle output torque control program, it implements the above-described vehicle output torque control method.

[0117] According to the vehicle of the present invention, based on the above-described vehicle output torque control method, the current operating condition of the vehicle is determined based on the acquired lateral acceleration of the vehicle, thereby determining a torque distribution strategy according to different operating conditions to ensure the vehicle's operating stability under different operating conditions.

[0118] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0119] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0120] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0121] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0122] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0123] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for controlling the output torque of a vehicle, characterized in that, The vehicle includes a front axle motor and a rear axle motor, the front axle motor being configured to drive the front wheels and the rear axle motor being configured to drive the rear wheels, the method comprising: Obtain the lateral acceleration of the vehicle; The torque distribution strategy is determined based on the lateral acceleration, and the front axle output torque and rear axle output torque are determined based on the torque distribution strategy. Determining the torque distribution strategy based on the lateral acceleration includes: When the lateral acceleration is less than a first acceleration threshold, the torque distribution strategy is a first control strategy, wherein the first control strategy is a torque priority control strategy; when the torque distribution strategy is the first control strategy, it is ensured that the sum of the front axle output torque and the rear axle output torque is always equal to the total required torque; When the lateral acceleration is greater than the second acceleration threshold, the torque distribution strategy is the second control strategy, wherein the second control strategy is a proportional priority control strategy; when the torque distribution strategy is the second control strategy, the sum of the front axle output torque and the rear axle output torque is less than the total required torque; When the lateral acceleration is greater than or equal to the first acceleration threshold and less than or equal to the second acceleration threshold, the torque distribution strategy is a third control strategy, wherein the third control strategy is a compromise strategy between the proportional priority control strategy and the torque priority control strategy.

2. The method for controlling vehicle output torque according to claim 1, characterized in that, Also includes: Obtain the total required torque and the maximum allowable output torque for the rear axle; The product of the total required torque and the initial allocation coefficient and the maximum allowable output value of the rear axle torque are taken as the smaller value, which is used as the initial rear axle torque; The initial front axle torque is determined based on the difference between the total required torque and the initial rear axle torque.

3. The method for controlling vehicle output torque according to claim 2, characterized in that, Also includes: The torque-priority front axle output torque under the first control strategy and the proportion-priority front axle output torque under the second control strategy are obtained based on the initial front axle torque, the initial rear axle torque, and the initial allocation coefficient.

4. The method for controlling vehicle output torque according to claim 3, characterized in that, The torque-priority front axle output torque and the proportional-priority front axle output torque are obtained using the following formulas: in, This indicates that the torque is prioritized for the front axle output torque. This represents the initial front axle torque. This indicates the proportional priority front axle output torque. This represents the initial allocation coefficient. This represents the total torque required. This indicates the maximum allowable output value of the rear axle torque, and min() indicates taking the smaller value to obtain the initial rear axle torque.

5. The method for controlling vehicle output torque according to claim 3, characterized in that, Determining the front axle output torque and rear axle output torque according to the torque distribution strategy includes: When the torque distribution strategy is the third control strategy, obtain the proportional priority correction coefficient; The front axle output torque and the rear axle output torque are determined based on the proportional priority correction coefficient, the torque priority front axle output torque, the proportional priority front axle output torque, and the initial rear axle torque.

6. The method for controlling vehicle output torque according to claim 5, characterized in that, The proportional priority correction coefficient is obtained using the following formula: in, This represents the proportional priority correction coefficient. This indicates the lateral acceleration. This represents the first acceleration threshold. This represents the second acceleration threshold, where min() indicates taking the smaller value and max() indicates taking the larger value; The front axle output torque and the rear axle output torque are obtained using the following formulas: in, This indicates the output torque of the front axle. This indicates the output torque of the rear axle. This represents the proportional priority correction coefficient. This represents the initial rear axle torque.

7. The method for controlling vehicle output torque according to claim 3, characterized in that, Determining the front axle output torque and rear axle output torque according to the torque distribution strategy includes: When the torque distribution strategy is the first control strategy, the torque-priority front axle output torque is used as the front axle output torque, and the initial rear axle torque is used as the rear axle output torque; When the torque distribution strategy is the second control strategy, the proportional priority front axle output torque is used as the front axle output torque, and the initial rear axle torque is used as the rear axle output torque.

8. A control device for vehicle output torque, characterized in that, The vehicle includes a front axle motor and a rear axle motor, the front axle motor being configured to drive the front wheels and the rear axle motor being configured to drive the rear wheels. The device includes: The acquisition module is used to acquire the lateral acceleration of the vehicle; The determination module is used to determine a torque distribution strategy based on the lateral acceleration, and to determine the front axle output torque and the rear axle output torque based on the torque distribution strategy. The determining module is specifically used to determine the torque distribution strategy as a first control strategy when the lateral acceleration is less than a first acceleration threshold. The first control strategy is a torque priority control strategy. Under the first control strategy, it ensures that the sum of the front axle output torque and the rear axle output torque is always equal to the total required torque. When the lateral acceleration is greater than the second acceleration threshold, the torque distribution strategy is a second control strategy, wherein the second control strategy is a proportional priority control strategy; under the second control strategy, the sum of the front axle output torque and the rear axle output torque is less than the total required torque; When the lateral acceleration is greater than or equal to the first acceleration threshold and less than or equal to the second acceleration threshold, the torque distribution strategy is a third control strategy, wherein the third control strategy is a compromise strategy between the proportional priority control strategy and the torque priority control strategy.

9. A vehicle, characterized in that, The system includes a memory, a processor, and a vehicle output torque control program stored in the memory and executable on the processor. When the processor executes the vehicle output torque control program, it implements the vehicle output torque control method according to any one of claims 1-7.

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