Vehicle torque control method, vehicle controller, and readable storage medium

Abstract

The application discloses a vehicle torque control method, a vehicle controller and a readable storage medium. The method comprises the following steps: determining a vehicle wheel end demand torque according to vehicle state information; setting a plurality of torque distribution ratios, and calculating a motor demand torque of each electric drive system under each torque distribution ratio according to the wheel end demand torque; calculating an expected consumption power of each electric drive system according to the motor demand torque of each electric drive system and corresponding drive information, and obtaining a first total expected consumption power of all electric drive systems corresponding to each torque distribution ratio; and determining a target torque distribution ratio according to all first total expected consumption powers. The embodiment of the application realizes low consumption power of the electric drive system, and the target torque distribution ratio is an optimal torque distribution ratio determined based on an actual driving state of the vehicle and the consumption power of the electric drive system during vehicle driving, so that the efficiency of the electric drive system and the economy of the electric drive system are improved.

Description

Technical Field

[0001] This invention relates to the field of automotive technology, and more particularly to a method for controlling vehicle torque, a vehicle controller, and a readable storage medium. Background Technology

[0002] With the development of technology and the improvement of living standards, automobiles have become an important means of transportation in people's daily lives. Especially under the trend of developing new energy in my country, new energy vehicles are becoming increasingly popular among users.

[0003] Most new energy vehicles use dual-electric drive systems or multi-electric drive systems for propulsion, thus requiring torque distribution among the various electric drive systems. Currently, the optimal torque distribution ratio for the combined efficiency of multiple electric drive systems is typically calculated through offline simulation. This torque distribution ratio is then written into the controller. During vehicle operation, the torque distribution ratio is obtained by looking up a table, and the torque is output according to the torque distribution ratio.

[0004] However, in the exemplary technology, the torque distribution ratio is calculated offline. The result obtained by the lookup table method is generally the torque distribution ratio when the vehicle is in the best condition. However, the vehicle is not in the best condition during driving. Therefore, the torque distribution ratio obtained by the lookup table results in low efficiency and low economy of the electric drive system. Summary of the Invention

[0005] The main objective of this invention is to provide a method for controlling vehicle torque, a vehicle controller, and a readable storage medium, with the aim of improving the efficiency of the vehicle electric drive system and thus enhancing the economy of the electric drive system.

[0006] Based on this, the present invention provides a method for controlling vehicle torque, the method comprising the following steps:

[0007] Determine the required torque at the vehicle's wheel ends based on vehicle status information;

[0008] Multiple torque distribution ratios are set, and the motor torque required by each electric drive system is calculated under each torque distribution ratio based on the wheel end torque requirement.

[0009] Calculate the expected power consumption of each electric drive system based on the motor torque requirement and corresponding drive information of each electric drive system, and obtain the first total expected power consumption of all electric drive systems corresponding to each torque distribution ratio.

[0010] The target torque distribution ratio is determined based on all of the first total estimated power consumption.

[0011] Optionally, the step of setting multiple torque distribution ratios and calculating the motor demand torque of each electric drive system under each torque distribution ratio based on the wheel end demand torque includes:

[0012] Multiple torque distribution ratios are set, and each torque distribution ratio is adjusted according to the maximum torque boundary fed back by each electric drive system.

[0013] The motor torque required by each electric drive system is calculated based on the adjusted torque distribution ratio after calculation according to the wheel end torque requirement.

[0014] Optionally, the step of determining the target torque distribution ratio based on all of the first total estimated power consumption includes:

[0015] The first torque distribution ratio is determined based on all the first total estimated power consumption.

[0016] Obtain the maximum torque boundary fed back by each electric drive system, and adjust the first torque distribution ratio based on the maximum torque boundary;

[0017] The adjusted first torque distribution ratio is determined as the target torque distribution ratio.

[0018] Optionally, the steps for calculating the motor demand torque of each electric drive system corresponding to the torque distribution ratio based on the wheel-end demand torque include:

[0019] The required motor torque for each electric drive system is calculated based on the wheel end torque requirement, the torque distribution ratio, the speed ratio, and the reducer efficiency.

[0020] Optionally, the step of determining the target torque distribution ratio based on all of the first total estimated power consumption includes:

[0021] Obtain the minimum target total estimated power consumption from all the first total estimated power consumptions;

[0022] The torque distribution ratio calculated based on the total expected power consumption of the target is used as the target torque distribution ratio.

[0023] Optionally, the step of determining the target torque distribution ratio based on all of the first total estimated power consumption includes:

[0024] Obtain the minimum target total estimated power consumption from all the first total estimated power consumptions;

[0025] The torque distribution ratio calculated from the total expected power consumption of the target is used as the first torque distribution ratio;

[0026] Calculate the motor torque requirement of each electric drive system based on the first torque distribution ratio and the wheel end torque requirement;

[0027] Calculate the second total estimated power consumption of all electric drive systems based on the motor torque requirements of each electric drive system and the corresponding drive information.

[0028] The first torque distribution ratio is updated based on the second total estimated power consumption and the power limit at the energy end, and the updated first torque distribution ratio is used as the target torque distribution ratio.

[0029] Optionally, the step of updating the first torque distribution ratio based on the second total estimated power consumption and the power limit at the energy end includes:

[0030] Compare the second total estimated power consumption with the power limit at the energy end;

[0031] If the second total estimated power consumption is less than or equal to the limiting power, then the first torque distribution ratio is used as the target torque distribution ratio;

[0032] If the second total estimated power consumption is greater than the limit power, then the wheel-end required torque is reduced, and the process returns to the step of calculating the motor required torque of each electric drive system under each torque distribution ratio based on the wheel-end required torque, in order to update the first torque distribution ratio.

[0033] Optionally, the drive information includes at least one of the electric drive system speed, electric drive system efficiency, and power loss of the electric drive system to maintain zero torque.

[0034] The present invention also provides a method for controlling vehicle torque, the method comprising the following steps:

[0035] Determine the required torque at the vehicle's wheel ends based on vehicle status information;

[0036] Determine the first torque distribution ratio of the vehicle;

[0037] Calculate the motor torque requirement of each electric drive system based on the first torque distribution ratio and the wheel end torque requirement;

[0038] Calculate the second total estimated power consumption of all electric drive systems based on the motor torque requirements of each electric drive system and the corresponding drive information.

[0039] The first torque distribution ratio is updated based on the second total estimated power consumption and the power limit at the energy end, and the updated first torque distribution is output as the target torque distribution ratio.

[0040] Optionally, the step of updating the first torque distribution ratio based on the second total estimated power consumption and the power limit at the energy end includes:

[0041] Compare the second total estimated power consumption with the power limit at the energy end;

[0042] If the second total estimated power consumption is less than or equal to the limiting power, then the first torque distribution ratio is used as the target torque distribution ratio;

[0043] If the second total estimated power consumption is greater than the limit power, the wheel-end required torque is reduced, and the process returns to the step of determining the first torque distribution ratio of the vehicle to update the first torque distribution ratio.

[0044] Optionally, the step of determining the first torque distribution ratio of the vehicle includes:

[0045] A first torque distribution ratio for the vehicle is determined, and the first torque distribution ratio is updated based on the maximum torque boundary fed back by each electric drive system.

[0046] The present invention also provides a vehicle controller, the vehicle controller comprising: a memory, a processor, and a torque control program stored in the memory and executable on the processor, wherein the torque control program, when executed by the processor, implements the steps of the vehicle torque control method as described above.

[0047] The present invention also provides a storage medium storing a torque control program, which, when executed by a processor, implements the steps of the vehicle torque control method described above.

[0048] To achieve the above objectives, the present invention provides a vehicle torque control method, a vehicle controller, and a readable storage medium. In this embodiment, during vehicle operation, the required torque at the wheel ends is determined based on vehicle state information. Multiple torque distribution ratios are set, and the required torque of the motors of each electric drive system under each torque distribution ratio is calculated based on the required torque at the wheel ends. The expected power consumption of each electric drive system is calculated based on the required torque of the motors of each electric drive system and the corresponding drive information. A first total expected power consumption of all electric drive systems corresponding to each torque distribution ratio is obtained. Then, a target torque distribution ratio is determined based on all the first total expected power consumptions. This ensures that when the vehicle controls torque at the target torque distribution ratio, the power consumption of the electric drive system is minimized. Furthermore, the target torque distribution ratio is calculated during vehicle operation and is determined based on the actual driving state of the vehicle and the power consumption of the electric drive system to achieve a better torque distribution ratio, resulting in higher efficiency and improved economy of the electric drive system. Attached Figure Description

[0049] Figure 1 The hardware environment architecture involved in the vehicle torque control method provided by the present invention;

[0050] Figure 2 This is a flowchart illustrating the first embodiment of the vehicle torque control method provided by the present invention.

[0051] Figure 3 This is a flowchart illustrating a second embodiment of the vehicle torque control method provided by the present invention.

[0052] Figure 4 This is a flowchart illustrating the third embodiment of the vehicle torque control method provided by the present invention.

[0053] Figure 5 A detailed flowchart of step S140 in the fourth embodiment of the vehicle torque control method provided by the present invention;

[0054] Figure 6 This is a flowchart illustrating the fifth embodiment of the vehicle torque control method provided by the present invention.

[0055] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0056] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0057] To better understand the above technical solutions, exemplary embodiments of this disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of this disclosure to those skilled in the art.

[0058] With the development of technology and the improvement of living standards, automobiles have become an important means of transportation in people's daily lives. Especially under the trend of developing new energy in my country, new energy vehicles are becoming increasingly popular among users.

[0059] Most new energy vehicles use dual-electric drive systems or multi-electric drive systems for propulsion, thus requiring torque distribution among the various electric drive systems. Currently, the optimal torque distribution ratio for the combined efficiency of multiple electric drive systems is typically calculated through offline simulation. This torque distribution ratio is then written into the controller. During vehicle operation, the torque distribution ratio is obtained by looking up a table, and the torque is output according to the torque distribution ratio.

[0060] However, in the exemplary technology, the torque distribution ratio is calculated offline. The result obtained by the lookup table method is generally the torque distribution ratio when the vehicle is in the best state. However, the vehicle will not be in the best state during driving. Therefore, the torque distribution ratio obtained by the lookup table makes the electric drive system inefficient and not economical. The specific reasons are: the torque distribution ratio obtained by the lookup table does not take into account the energy loss when a certain electric drive system outputs 0 torque, resulting in low economic efficiency of the electric drive system.

[0061] Based on this, embodiments of the present invention provide a novel method for controlling vehicle torque. After determining the required torque at the wheel ends of the vehicle based on vehicle state information, multiple torque distribution ratios are set, and then the required motor torque of each electric drive system corresponding to the required torque at the wheel ends is calculated for each torque distribution ratio. Then, the expected power consumption of each electric drive system is calculated based on the required motor torque and corresponding drive information, obtaining the first total expected power consumption of all electric drive systems corresponding to each torque distribution ratio. Finally, a target torque distribution ratio is determined based on all the first total expected power consumptions. In other words, under vehicle driving conditions, the first total expected power consumption of the electric drive system under different torque distribution ratios is calculated based on the actual operating state of the vehicle (drive information of the electric drive system, etc.). The torque distribution ratio is then selected based on minimizing power consumption. The torque distribution ratio is calculated online, and the power consumption of the electric drive system is considered during the calculation. The torque distribution ratio is selected based on the goal of optimizing economic performance, thereby improving the efficiency and economy of the electric drive system.

[0062] To better understand the above technical solutions, exemplary embodiments of this disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of this disclosure to those skilled in the art.

[0063] As one implementation method, the hardware environment architecture involved in the vehicle torque control method can be as follows: Figure 1 As shown.

[0064] Optionally, the hardware architecture involved in the vehicle torque control method includes a vehicle controller or a vehicle.

[0065] In one implementation, the vehicle controller includes: a processor 101, such as a CPU, a memory 102, and a communication bus 103. The communication bus 103 is used to establish communication between these components. The processor 102 is used to invoke an application program to perform control operations.

[0066] The memory 102 can be a high-speed RAM or a stable memory (non-volatile memory), such as a disk storage device.

[0067] It is understood that, in one embodiment, the torque control program for implementing the vehicle torque control method is stored in the memory 102 of the terminal or in a computer-retrievable storage medium. When the processor 101 retrieves the torque control program from the memory 102 or the storage medium, it performs the following operations:

[0068] Determine the required torque at the vehicle's wheel ends based on vehicle status information;

[0069] Multiple torque distribution ratios are set, and the motor torque required by each electric drive system is calculated under each torque distribution ratio based on the wheel end torque requirement.

[0070] Calculate the expected power consumption of each electric drive system based on the motor torque requirement and corresponding drive information of each electric drive system, and obtain the first total expected power consumption of all electric drive systems corresponding to each torque distribution ratio.

[0071] The target torque distribution ratio is determined based on all of the first total estimated power consumption.

[0072] Optionally, based on the hardware environment architecture involved in the above-described vehicle torque control method, the following embodiments of the present invention are proposed.

[0073] First Embodiment

[0074] Please refer to Figure 2 The vehicle torque control method provided in this embodiment is applied to a vehicle or a vehicle controller. Optionally, this embodiment is described using the application to a vehicle controller as an example.

[0075] The method for controlling vehicle torque includes the following steps:

[0076] Step S110: Determine the required torque at the vehicle wheel ends based on the vehicle status information.

[0077] The vehicle status information includes at least one of pedal opening and vehicle speed, with the pedal opening representing the driver's torque demand. Based on this, after receiving various vehicle status information, the vehicle controller can calculate the wheel-end torque demand.

[0078] Step S120: Set multiple torque distribution ratios, and calculate the motor torque required by each electric drive system under each torque distribution ratio based on the wheel end torque requirement.

[0079] The torque distribution ratio is set randomly, for example, 50:50; or 20:40:40, etc., and the number of settings is not limited.

[0080] The required motor torque for each electric drive system is calculated sequentially based on each torque distribution ratio to meet the wheel-end torque requirement. The required motor torque for each electric drive system is calculated using the wheel-end torque requirement, the torque distribution ratio, the speed ratio, and the reducer efficiency. For example, required motor torque = wheel-end torque requirement * torque distribution ratio / speed ratio / reducer efficiency.

[0081] Taking a dual-motor drive system as an example, at least two torque distribution ratios are set, such as 50:50 or 40:60. Based on a 50:50 ratio, the required motor torques N1 and N2 for each electric drive system are calculated. N1 and N2 represent the required motor torques for each electric drive system with a torque distribution ratio of 50:50. Then, based on a 40:60 ratio, the required motor torques N3 and N4 for each electric drive system are calculated. N3 and N4 represent the required motor torques for each electric drive system with a torque distribution ratio of 40:60. This calculation is repeated sequentially to obtain the required motor torques for each electric drive system under multiple torque distribution ratios. It is understood that the process for multi-drive systems is the same as for dual-drive systems, and will not be illustrated further here.

[0082] Step S130: Calculate the expected power consumption of each electric drive system based on the motor torque requirement and corresponding drive information of each electric drive system, and obtain the first total expected power consumption of all electric drive systems corresponding to each torque distribution ratio.

[0083] In this embodiment, the driving information includes at least one of the following: electric drive system speed, electric drive system efficiency, and power loss of the electric drive system when maintaining zero torque. The power loss of the electric drive system when maintaining zero torque is measured experimentally.

[0084] Optionally, step S130 includes:

[0085] The first step is to identify the electric drive system for which the motor's required torque is not zero under each torque distribution ratio. Then, calculate the first expected power consumption of the electric drive system according to the formula: expected power consumption of electric drive system = motor required torque * electric drive system speed / 9550 / electric drive system efficiency.

[0086] The second step is to determine the electric drive system with zero required torque for each torque distribution ratio, and to determine the second expected power consumption of the electric drive system based on the preset power loss of maintaining zero torque.

[0087] Step 3: The sum of the first estimated power consumption and the second estimated power consumption is taken as the first total estimated power consumption of all electric drive systems corresponding to each torque distribution ratio.

[0088] The above three steps are used to obtain the set of the first total estimated power consumption of all electric drive systems corresponding to each torque distribution ratio.

[0089] Step S140: Determine a target torque distribution ratio based on all the first total estimated power consumption, so as to control the torque of the vehicle according to the target torque distribution ratio.

[0090] The step of determining the target torque distribution ratio based on all of the first total estimated power consumption includes:

[0091] Obtain the minimum target total estimated power consumption from all the first total estimated power consumptions;

[0092] The torque distribution ratio calculated based on the total expected power consumption of the target is used as the target torque distribution ratio.

[0093] In other words, the minimum value is obtained from the set of the first total estimated power consumption. That is, when the vehicle distributes torque according to the target torque distribution ratio, the power consumption of the vehicle's electric drive system can be minimized, improving the vehicle's fuel economy. Therefore, the target torque distribution ratio in this embodiment is a torque distribution ratio based on optimized fuel economy.

[0094] In this embodiment, during vehicle operation, the required torque at the vehicle's wheel ends is determined based on vehicle status information. Multiple torque distribution ratios are set, and the required torque of each electric drive system's motor is calculated for each torque distribution ratio based on the required torque at the wheel ends. The expected power consumption of each electric drive system is calculated based on its motor required torque and corresponding drive information. The first total expected power consumption of all electric drive systems corresponding to each torque distribution ratio is obtained. Then, a target torque distribution ratio is determined based on all the first total expected power consumptions. This ensures that when the vehicle controls torque at the target torque distribution ratio, the power consumption of the electric drive system is minimized. Furthermore, the target torque distribution ratio is calculated during vehicle operation and is determined based on the vehicle's actual driving state and the power consumption of the electric drive system to achieve a better torque distribution ratio, resulting in higher efficiency and improved economy of the electric drive system.

[0095] Second Embodiment

[0096] In the exemplary technique of obtaining the torque distribution ratio by looking up a table, the efficiency and economy of the electric drive system are low. Specific reasons include: the influence of torque limitations of the electric drive system (external characteristics or faults, etc.) is not considered. Based on this, this embodiment proposes a method for controlling vehicle torque, based on the first embodiment described above. Please refer to... Figure 3 The control method includes:

[0097] Step S210: Determine the required torque at the vehicle wheel ends based on the vehicle status information.

[0098] In this embodiment, the method for obtaining vehicle status information and calculating wheel-end torque requirements is the same as step S110 in the first embodiment described above. For details, please refer to the first embodiment described above, and it will not be repeated here.

[0099] Step S220: Set multiple torque distribution ratios and adjust each torque distribution ratio according to the maximum torque boundary fed back by each electric drive system;

[0100] This embodiment is the same as the first embodiment described above, but sets multiple torque distribution ratios. The torque distribution ratios are randomly set, such as 50:50 or 20:40:40, and the number of sets is not limited.

[0101] Unlike the first embodiment described above, this embodiment adjusts the torque distribution ratio in advance based on the maximum torque boundary fed back by each electric drive system before calculating the motor torque requirement of each electric drive system based on each torque distribution ratio. This avoids the torque allocated by the torque distribution ratio not conforming to the maximum torque boundary limit, which would result in low working efficiency and poor economic performance of the electric drive system.

[0102] Optionally, the method for adjusting the torque distribution ratio based on the maximum torque boundary fed back by each electric drive system is as follows: Calculate the motor demand torque of each electric drive system according to the wheel end demand torque and the torque distribution ratio. Then compare the motor demand torque of the electric drive system with the maximum torque boundary of that electric drive system. If the motor demand torque is greater than the corresponding maximum torque boundary, it means that the electric drive system cannot provide the motor demand torque, and the torque distribution ratio needs to be readjusted. If the motor demand torque is less than or equal to the corresponding maximum torque boundary, it means that the electric drive system can provide the motor demand torque, and the torque distribution ratio can be retained without adjustment.

[0103] The torque distribution ratio is adjusted by reducing the torque ratio of electric drive systems where the motor's required torque is greater than the corresponding maximum torque boundary, and correspondingly increasing the torque ratio of electric drive systems where the motor's required torque is less than the corresponding maximum torque boundary (after the increase, the motor's required torque is still less than the corresponding maximum torque boundary).

[0104] Taking a dual-electric drive system as an example, at least two torque distribution ratios are set, such as 50:50 or 40:60. If the wheel-end torque requirement is 500 Nm, the maximum torque boundary of the first electric drive system is 200 Nm, and the maximum torque boundary of the second electric drive system is 350 Nm. When distributing torque according to a 50:50 torque distribution ratio, the motor torque requirements of each electric drive system are 250 Nm and 250 Nm respectively. Since the maximum torque boundary of the first electric drive system is 200 Nm, which is less than the motor torque requirement of 250 Nm (that is, the motor torque requirement is greater than the corresponding maximum torque boundary), the distribution ratio of the first electric drive system needs to be adjusted to reduce the motor torque requirement. The maximum torque boundary of the second electric drive system is 350 Nm, which is greater than the motor torque requirement of 250 Nm. Therefore, the distribution ratio of the second electric drive system can be increased. For example, the torque distribution ratio can be adjusted to 40:60. Based on the adjusted torque distribution ratio, the motor torque requirement of the first electric drive system is calculated to be 200 Nm, and the motor torque requirement of the second electric drive system is calculated to be 300 Nm.

[0105] Similarly, if torque is allocated according to a 40:60 torque distribution ratio, the motor demand torque of the first electric drive system is 200 Nm, and the motor demand torque of the second electric drive system is 300 Nm. In this case, the maximum torque boundary of the first electric drive system is 200 Nm, which is equal to the motor demand torque of 200 Nm. The maximum torque boundary of the second electric drive system is 350 Nm, which is less than the motor demand torque of 300 Nm. Therefore, when allocating torque according to this torque distribution ratio, the maximum torque boundary requirements of each motor are met, and the torque distribution ratio does not need to be adjusted; the motor demand torque of each electric drive system can be calculated directly according to this torque distribution ratio. This calculation is repeated sequentially to obtain multiple torque distribution ratios corrected for maximum torque boundaries. It is understood that the multi-drive system is the same as the dual-drive system, and further examples will not be provided here.

[0106] Step S230: Calculate the motor torque required by each electric drive system under each adjusted torque distribution ratio based on the wheel end torque requirement.

[0107] After correcting the torque distribution ratio based on the maximum torque boundary of the electric drive system, the motor torque requirement of each electric drive system is calculated according to the new torque distribution ratio.

[0108] In this embodiment, the method for calculating the motor torque requirement of the electric drive system is the same as the method for calculating the motor torque requirement in step S120 of the first embodiment described above. For a detailed description, please refer to the first embodiment described above, and it will not be repeated here.

[0109] Step S240: Calculate the expected power consumption of each electric drive system based on the motor torque requirement and corresponding drive information of each electric drive system, and obtain the first total expected power consumption of all electric drive systems corresponding to each torque distribution ratio.

[0110] Step S250: Determine the target torque distribution ratio based on all of the first total estimated power consumption.

[0111] In this embodiment, the specific implementation process of step S240 is the same as that of steps S130 to S140 in the first embodiment above. Therefore, the specific process of steps S240 to S250 is the same as that of the first embodiment above, and will not be repeated here.

[0112] In this embodiment, when calculating the torque distribution ratio, the influence of the torque limitation of the electric drive system is taken into account, and the torque distribution ratio is optimized to make the torque distribution ratio more economical and effective.

[0113] Third Embodiment

[0114] In the exemplary technique of obtaining the torque distribution ratio by looking up a table, the efficiency and economy of the electric drive system are low. Specific reasons include: the failure to consider the influence of torque limitations of the electric drive system (external characteristics or faults, etc.). Based on this, this embodiment proposes another method for controlling vehicle torque, building upon the first embodiment described above. Please refer to... Figure 4 The control method includes:

[0115] Step S310: Determine the required torque at the vehicle wheel ends based on the vehicle status information.

[0116] Step S320: Set multiple torque distribution ratios, and calculate the motor torque required by each electric drive system under each torque distribution ratio based on the wheel end torque requirement.

[0117] Step S330: Calculate the expected power consumption of each electric drive system based on the motor torque requirement and corresponding drive information of each electric drive system, and obtain the first total expected power consumption of all electric drive systems corresponding to each torque distribution ratio.

[0118] In this embodiment, the specific implementation process of steps S310 to S330 is the same as that of steps S110 to S330 in the first embodiment above. Therefore, the specific process of steps S310 to S330 is the same as that of steps S110 to S330 in the first embodiment above, and will not be repeated here.

[0119] Step S340: Determine the first torque distribution ratio based on all the first total estimated power consumption.

[0120] In this embodiment, the first torque allocation ratio determined based on all the first total estimated power consumption is the initial economic torque allocation ratio. Similar to the first embodiment described above, the first torque allocation ratio is the torque allocation ratio corresponding to the first total estimated power consumption with the smallest value.

[0121] Unlike the above embodiments, this embodiment, after determining the first torque distribution ratio, also corrects the torque distribution ratio by using the maximum torque boundary of each electric drive system. This avoids situations where the motor torque demand of some electric drive systems exceeds the maximum torque boundary, preventing the vehicle from obtaining optimal power and thus improving the economic performance of the electric drive system.

[0122] Step S350: Obtain the maximum torque boundary fed back by each electric drive system, and adjust the first torque distribution ratio based on the maximum torque boundary.

[0123] In this embodiment, after determining the first torque distribution ratio, the first torque distribution ratio is corrected using the maximum torque boundary of each electric drive system.

[0124] Optionally, the method for adjusting each of the first torque distribution ratios based on the maximum torque boundary fed back by each electric drive system is as follows: Calculate the motor demand torque of each electric drive system according to the wheel end demand torque and the first torque distribution ratio, and then compare the motor demand torque of the electric drive system with the maximum torque boundary of the electric drive system. If the motor demand torque is greater than the corresponding maximum torque boundary, it means that the electric drive system cannot provide the motor demand torque, and the first torque distribution ratio needs to be readjusted. If the motor demand torque is less than or equal to the corresponding maximum torque boundary, it means that the electric drive system can provide the motor demand torque, and the first torque distribution ratio can be retained without adjustment.

[0125] The adjustment method of the first torque distribution ratio is to reduce the torque ratio of the electric drive system where the motor demand torque is greater than the corresponding maximum torque boundary, and correspondingly increase the torque ratio of the electric drive system where the motor demand torque is less than the corresponding maximum torque boundary (after the increase, the motor demand torque is still less than the corresponding maximum torque boundary).

[0126] Taking a dual-electric drive system as an example, if the first torque distribution ratio is determined to be 50:50. When the wheel-end torque requirement is 500 Nm, the maximum torque boundary of the first electric drive system is 200 Nm, and the maximum torque boundary of the second electric drive system is 350 Nm, then the motor torque requirements of each electric drive system are 250 Nm and 250 Nm respectively. Since the maximum torque boundary of the first electric drive system is 200 Nm, which is less than the motor torque requirement of 250 Nm (meaning the motor torque requirement is greater than the corresponding maximum torque boundary), the distribution ratio of the first electric drive system needs to be adjusted to reduce the motor torque requirement. The maximum torque boundary of the second electric drive system is 350 Nm, which is greater than the motor torque requirement of 250 Nm. Therefore, the distribution ratio of the second electric drive system can be increased. For example, the first torque distribution ratio can be adjusted to 40:60. Based on the adjusted first torque distribution ratio, the motor torque requirement of the first electric drive system is calculated to be 200 Nm, and the motor torque requirement of the second electric drive system is 300 Nm, which meets the maximum torque boundary requirements of each electric drive system. Thus, it can be determined that the first torque distribution ratio should be adjusted to 40:60.

[0127] Step S360: Determine the adjusted first torque distribution ratio as the target torque distribution ratio.

[0128] In this embodiment, when calculating the torque distribution ratio, the influence of the torque limitation of the electric drive system is taken into account, and the torque distribution ratio is optimized to make the torque distribution ratio more economical and effective.

[0129] Fourth embodiment

[0130] In the exemplary technique of obtaining the torque distribution ratio by looking up a table, the efficiency and economy of the electric drive system are low. A specific reason for this is that the impact of insufficient battery power is not considered. When battery power is insufficient, the power provided by the drive system is poor, resulting in low economy. Based on this, this embodiment proposes a vehicle torque control method based on all the above embodiments. Please refer to... Figure 5 The step of determining the target torque distribution ratio based on all of the first total estimated power consumption includes:

[0131] Step S410: Obtain the minimum target total estimated power consumption from all the first total estimated power consumption.

[0132] Step S420: The torque distribution ratio calculated based on the total expected power consumption of the target is used as the first torque distribution ratio.

[0133] In other words, the minimum value of the first total estimated power consumption is obtained as the target total estimated power consumption, and the torque distribution ratio of the calculated target total estimated power consumption is used as the initial optimized economic torque distribution ratio (i.e., the first torque distribution ratio). When the vehicle distributes torque according to the first torque distribution ratio, the power consumption of the vehicle's electric drive system can be minimized, thereby improving the vehicle's economic performance.

[0134] Based on this, this embodiment adjusts the torque distribution ratio according to the vehicle's battery power to avoid the drive system being unable to provide corresponding power when the battery power is insufficient, which would result in low vehicle performance and low economy.

[0135] Step S430: Calculate the motor torque required by each electric drive system based on the first torque distribution ratio and the wheel end torque requirement.

[0136] Step S440: Calculate the second total estimated power consumption of all electric drive systems based on the motor torque requirements of each electric drive system and the corresponding drive information.

[0137] Step S450: Update the first torque distribution ratio according to the second total estimated power consumption and the power limit at the energy end, and use the updated first torque distribution ratio as the target torque distribution ratio.

[0138] In this embodiment, the sum of the expected power consumption of each electric drive system under the first torque distribution ratio is compared with the battery's limited power, and the first torque distribution ratio is updated according to the comparison result, so as to achieve the purpose of adjusting the torque distribution ratio based on the battery power.

[0139] Optionally, the second total estimated power consumption of all electric drive systems refers to the sum of the estimated power consumption of all electric drive systems when the torque of each electric drive system is distributed according to the first torque distribution ratio.

[0140] Optionally, the step of updating the first torque distribution ratio based on the second total estimated power consumption and the power limit at the energy end includes:

[0141] Compare the second total estimated power consumption with the power limit at the energy end;

[0142] If the second total estimated power consumption is less than or equal to the limit power, then the first torque distribution ratio is used as the target torque distribution ratio, and the target torque distribution ratio is output.

[0143] If the second total estimated power consumption is greater than the limit power, the wheel-end required torque is reduced, and the process returns to the step of calculating the motor required torque of each electric drive system under each torque distribution ratio based on the wheel-end required torque. The first torque distribution ratio is recalculated to update the first torque distribution ratio until the first torque distribution ratio satisfies that the second total estimated power consumption of all electric drive systems is less than or equal to the limit power.

[0144] In this embodiment, the energy end refers to the battery end. The battery limits the power of the electric drive system based on battery information. The power limit of the battery on the electric drive system is the limit power.

[0145] In this embodiment, the step of reducing the wheel end required torque includes: reducing the wheel end required torque by a preset value, for example, reducing it by 5 Nm, or reducing it by 1%, etc., wherein the preset value includes, but is not limited to, 5 Nm or 1%.

[0146] After the wheel-end torque is reduced, the torque demand of the motors of each electric drive system is reduced accordingly. At this time, the corresponding optimal torque distribution ratio also changes. Therefore, after reducing the wheel-end torque demand, the torque distribution ratio is recalculated according to steps S120 to S130 of the first embodiment, or steps S210 to S250 of the second embodiment, or steps S310 to S350 of the third embodiment, until the calculated torque distribution ratio meets the requirement that the second total expected power consumption of all electric drive systems is less than or equal to the power limit.

[0147] If the second total estimated power consumption is less than or equal to the limit power, it is considered that the limit power at the energy end does not affect the stable output of the electric drive system. Therefore, there is no need to update the first torque distribution ratio, and the first torque distribution ratio is directly used as the target torque distribution ratio for output.

[0148] In this embodiment, when calculating the torque distribution ratio, the impact of insufficient battery power is taken into account. When the battery power is insufficient, the torque distribution ratio is optimized so that the vehicle can drive the system with better torque control.

[0149] Fifth embodiment

[0150] In this exemplary technique based on the torque distribution ratio obtained by looking up a table, the impact of insufficient battery power is not considered, resulting in low efficiency and poor economy of the electric drive system. Therefore, a method for controlling vehicle torque is proposed to solve the problem of insufficient battery power.

[0151] Please refer to Figure 6 The method for controlling vehicle torque includes the following steps:

[0152] Step S510: Determine the required torque at the vehicle wheel ends based on the vehicle status information;

[0153] The vehicle status information includes at least one of pedal opening and vehicle speed, with the pedal opening representing the driver's torque demand. Based on this, after receiving various vehicle status information, the vehicle controller can calculate the wheel-end torque demand.

[0154] Step S520: Determine the first torque distribution ratio of the vehicle.

[0155] In some embodiments, the first torque distribution ratio is obtained by looking up a table, for example, by simulating the torque distribution ratio with the best overall efficiency of multiple electric drive systems in an offline state to form a torque distribution ratio table. During vehicle operation, the first torque distribution ratio is determined based on the wheel-end torque requirements of the vehicle.

[0156] Alternatively, in other embodiments, the first torque distribution ratio is calculated using the method described in any of the first to fourth embodiments above. The specific calculation process and principle can be referred to in any of the first to fourth embodiments above.

[0157] Step S530: Calculate the motor torque requirement of each electric drive system based on the first torque distribution ratio and the wheel end torque requirement.

[0158] Taking a dual electric drive system as an example, if the first torque distribution ratio is 40:60 and the required torque at the wheel end is 500 Nm, then the required torques of the electrodes of each electric drive system are calculated to be 200 Nm and 300 Nm, respectively.

[0159] Step S540: Calculate the second total estimated power consumption of all electric drive systems based on the motor torque requirements of each electric drive system and the corresponding drive information.

[0160] In this embodiment, the driving information includes at least one of the following: electric drive system speed, electric drive system efficiency, and power loss of the electric drive system when maintaining zero torque. The power loss of the electric drive system when maintaining zero torque is measured experimentally.

[0161] Optionally, step S540 includes:

[0162] The first step is to identify electric drive systems where the required torque of the motor is not zero. Then, calculate the first expected power consumption of the electric drive system according to the formula: expected power consumption of electric drive system = required torque of motor * speed of electric drive system / 9550 / efficiency of electric drive system.

[0163] The second step is to identify an electric drive system where the motor requires zero torque, and then determine the second expected power consumption of the electric drive system based on the preset power loss of maintaining zero torque.

[0164] Step 3: The sum of the first estimated power consumption and the second estimated power consumption is taken as the second total estimated power consumption of all electric drive systems.

[0165] The second total estimated power consumption is the total estimated power consumption of each electric drive system obtained based on the first torque distribution ratio.

[0166] Step S550: Update the first torque distribution ratio according to the second total estimated power consumption and the power limit at the energy end, and output the updated first torque distribution as the target torque distribution ratio.

[0167] Optionally, the step of updating the first torque distribution ratio based on the second total estimated power consumption and the power limit at the energy end includes:

[0168] Compare the second total estimated power consumption with the power limit at the energy end.

[0169] If the second total estimated power consumption is less than or equal to the limit power, then the first torque distribution ratio is used as the target torque distribution ratio.

[0170] If the second total estimated power consumption is greater than the limited power, the wheel-end required torque is reduced, and the process returns to the step of determining the first torque distribution ratio to update the first torque distribution ratio. It is understood that after the wheel-end required torque is reduced, the first torque distribution ratio, whether obtained by looking up a table or by any of the methods described in the first to fourth embodiments, will change accordingly. That is, if the wheel-end required torque is reduced, the process returns to redetermining the first torque distribution ratio to update the torque distribution ratio and obtain a more favorable torque distribution ratio.

[0171] In this embodiment, the step of reducing the wheel end required torque includes: reducing the wheel end required torque by a preset value, for example, reducing it by 5 Nm, or reducing it by 1%, etc., wherein the preset value includes, but is not limited to, 5 Nm or 1%.

[0172] If the second total estimated power consumption is less than or equal to the limit power, it is considered that the limit power at the energy end does not affect the stable output of the electric drive system. Therefore, there is no need to update the first torque distribution ratio, and the first torque distribution ratio is directly used as the target torque distribution ratio for output.

[0173] Optionally, in this embodiment, the step of determining the first torque distribution ratio of the vehicle includes:

[0174] A first torque distribution ratio for the vehicle is determined, and the first torque distribution ratio is updated based on the maximum torque boundary fed back by each electric drive system.

[0175] In this embodiment, the torque limitation of the electric drive system is also considered, which affects the torque distribution ratio and prevents it from achieving the optimal effect.

[0176] Optionally, in this embodiment, the method for updating the first torque distribution ratio based on the maximum torque boundary fed back by each electric drive system is as follows: Based on the wheel-end required torque and the first torque distribution ratio, calculate the motor required torque of each electric drive system, then compare the motor required torque of the electric drive system with the maximum torque boundary of the electric drive system. If the motor required torque is greater than the corresponding maximum torque boundary, it indicates that the electric drive system cannot provide the required motor torque, and the first torque distribution ratio needs to be readjusted. For example, return to redetermine the first torque distribution ratio, and determine the target torque distribution ratio through steps S530 to S550. If the motor required torque is less than or equal to the corresponding maximum torque boundary, it indicates that the electric drive system can provide the required motor torque, and the first torque distribution ratio can be retained without adjustment.

[0177] The adjustment method of the first torque distribution ratio is to reduce the torque ratio of the electric drive system where the motor demand torque is greater than the corresponding maximum torque boundary, and correspondingly increase the torque ratio of the electric drive system where the motor demand torque is less than the corresponding maximum torque boundary (after the increase, the motor demand torque is still less than the corresponding maximum torque boundary). For specific process, please refer to the examples listed in the third embodiment, and will not be repeated here.

[0178] In this embodiment, during vehicle operation, the required torque at the vehicle wheel ends is determined based on the vehicle status information. After determining the first torque distribution ratio, the expected power consumption of each electric drive system is calculated using the first torque distribution ratio, thereby obtaining the second total expected power consumption of the electric drive system. Then, considering the case of insufficient battery power, if the battery power is insufficient, the first torque distribution ratio is optimized so that the vehicle can control the drive system with better torque, making the electric drive system more efficient and improving its economy.

[0179] The present invention also provides a vehicle controller, the vehicle controller comprising: a memory, a processor, and a torque control program stored in the memory and executable on the processor, wherein the torque control program, when executed by the processor, implements the steps of the vehicle torque control method as described above.

[0180] The present invention also provides a storage medium storing a torque control program, which, when executed by a processor, implements the steps of the vehicle torque control method described above.

[0181] It should be noted that the above are merely optional embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A method for controlling vehicle torque, characterized in that, The method for controlling vehicle torque includes the following steps: Determine the required torque at the vehicle's wheel ends based on vehicle status information; Multiple torque distribution ratios are set, and the motor torque required by each electric drive system is calculated under each torque distribution ratio based on the wheel end torque requirement. Calculate the expected power consumption of each electric drive system based on the motor torque requirement and corresponding drive information of each electric drive system, and obtain the first total expected power consumption of all electric drive systems corresponding to each torque distribution ratio. The target torque distribution ratio is determined based on all of the first total estimated power consumption. The step of determining the target torque distribution ratio based on all of the first total estimated power consumption includes: The minimum target total estimated power consumption is obtained from all the first total estimated power consumptions, and the torque distribution ratio of the calculated target total estimated power consumption is used as the first torque distribution ratio. Calculate the motor torque requirement of each electric drive system based on the first torque distribution ratio and the wheel end torque requirement; The second total estimated power consumption of all electric drive systems is calculated based on the motor torque demand of each electric drive system and the corresponding drive information. The second total estimated power consumption is determined based on the first estimated power consumption and the second estimated power consumption. The first estimated power consumption is determined based on electric drive systems with non-zero motor torque demand and the second estimated power consumption is determined based on electric drive systems with zero motor torque demand. The first torque distribution ratio is updated based on the second total estimated power consumption and the power limit at the energy end, and the updated first torque distribution ratio is used as the target torque distribution ratio.

2. The vehicle torque control method as described in claim 1, characterized in that, The steps of setting multiple torque distribution ratios and calculating the motor demand torque of each electric drive system under each torque distribution ratio based on the wheel end demand torque include: Multiple torque distribution ratios are set, and each torque distribution ratio is adjusted according to the maximum torque boundary fed back by each electric drive system. The motor torque required by each electric drive system is calculated based on the adjusted torque distribution ratio after calculation according to the wheel end torque requirement.

3. The vehicle torque control method as described in claim 1, characterized in that, The step of determining the target torque distribution ratio based on all of the first total estimated power consumption includes: The first torque distribution ratio is determined based on all the first total estimated power consumption. Obtain the maximum torque boundary fed back by each electric drive system, and adjust the first torque distribution ratio based on the maximum torque boundary; The adjusted first torque distribution ratio is determined as the target torque distribution ratio.

4. The vehicle torque control method according to any one of claims 1-3, characterized in that, The steps for calculating the motor demand torque of each electric drive system corresponding to the torque distribution ratio based on the wheel-end demand torque include: The required motor torque for each electric drive system is calculated based on the wheel end torque requirement, the torque distribution ratio, the speed ratio, and the reducer efficiency.

5. The vehicle torque control method according to any one of claims 1-3, characterized in that, The step of determining the target torque distribution ratio based on all of the first total estimated power consumption includes: Obtain the minimum target total estimated power consumption from all the first total estimated power consumptions; The torque distribution ratio calculated based on the total expected power consumption of the target is used as the target torque distribution ratio.

6. The vehicle torque control method as described in claim 1, characterized in that, The step of updating the first torque distribution ratio based on the second total estimated power consumption and the energy-end limiting power includes: Compare the second total estimated power consumption with the power limit at the energy end; If the second total estimated power consumption is less than or equal to the limiting power, then the first torque distribution ratio is used as the target torque distribution ratio; If the second total estimated power consumption is greater than the limit power, then the wheel-end required torque is reduced, and the process returns to the step of calculating the motor required torque of each electric drive system under each torque distribution ratio based on the wheel-end required torque, in order to update the first torque distribution ratio.

7. The vehicle torque control method as described in claim 1, characterized in that, The driving information includes at least one of the following: electric drive system speed, electric drive system efficiency, and power loss of the electric drive system to maintain zero torque.

8. A method for controlling vehicle torque, characterized in that, The method for controlling vehicle torque includes the following steps: Determine the required torque at the vehicle's wheel ends based on vehicle status information; Determine a first torque distribution ratio for the vehicle, wherein the first torque distribution ratio is the torque distribution ratio corresponding to the minimum target total estimated power consumption obtained from all first total estimated power consumptions, the first total estimated power consumptions being determined based on the estimated power consumption calculated from the motor demand torque of each electric drive system, the motor demand torque being determined based on the wheel end demand torque; Calculate the motor torque requirement of each electric drive system based on the first torque distribution ratio and the wheel end torque requirement; The second total estimated power consumption of all electric drive systems is calculated based on the motor torque demand of each electric drive system and the corresponding drive information. The second total estimated power consumption is determined based on the first estimated power consumption and the second estimated power consumption. The first estimated power consumption is determined based on electric drive systems with non-zero motor torque demand and the second estimated power consumption is determined based on electric drive systems with zero motor torque demand. The first torque distribution ratio is updated based on the second total estimated power consumption and the power limit at the energy end, and the updated first torque distribution is output as the target torque distribution ratio.

9. The vehicle torque control method as described in claim 8, characterized in that, The step of updating the first torque distribution ratio based on the second total estimated power consumption and the energy-end limiting power includes: Compare the second total estimated power consumption with the power limit at the energy end; If the second total estimated power consumption is less than or equal to the limiting power, then the first torque distribution ratio is used as the target torque distribution ratio; If the second total estimated power consumption is greater than the limit power, the wheel-end required torque is reduced, and the process returns to the step of determining the first torque distribution ratio of the vehicle to update the first torque distribution ratio.

10. The control method as described in claim 8, characterized in that, The step of determining the first torque distribution ratio of the vehicle includes: A first torque distribution ratio for the vehicle is determined, and the first torque distribution ratio is updated based on the maximum torque boundary fed back by each electric drive system.

11. A vehicle controller, characterized in that, The vehicle controller includes: a memory, a processor, and a torque control program stored in the memory and executable on the processor, wherein the torque control program, when executed by the processor, implements the steps of the vehicle torque control method as described in any one of claims 1 to 10.

12. A readable storage medium, characterized in that, The readable storage medium stores a torque control program, which, when executed by a processor, implements the steps of the vehicle torque control method as described in any one of claims 1 to 10.

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