Battery current limiting protection method, device, equipment and storage medium

Abstract

The present invention discloses a battery current limiting protection method, device, equipment, and storage medium, wherein the method includes: determining the first execution target torque of each bridge motor based on the peak power of each bridge motor and the peak power of the power battery; determining the dynamic change value of the torque of each bridge motor based on the peak power of the power battery, the power battery discharge power, and the first execution target torque; and determining the final target torque of each bridge motor based on the first execution target torque and the dynamic change value of the torque. The present invention distributes power to the power battery in real time based on the peak power of each bridge motor. By distributing the dynamic change value of the torque in real time, multiple bridge motors can be coordinated and protected for the vehicle's power battery, thereby avoiding over-discharge of the power battery during rapid acceleration and deceleration, and achieving synchronous changes of the bridge motors, thereby avoiding abnormal vehicle driving caused by torque asynchrony between the bridge motors, greatly improving the reliability and safety of vehicle driving.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a battery current limiting protection method, device, equipment, and storage medium. Background Art

[0002] With the continuous development of related technologies, the driving mode of electric vehicles has gradually shifted from single-motor centralized drive to multi-motor distributed drive. Multi-motor distributed drive can effectively reduce the transmission distance. At the same time, the multi-motor distributed drive mode has higher requirements on the control method of the motor controller.

[0003] In existing multi-motor distributed drive vehicles, power batteries often suffer from over-discharge faults and poor protection faults. In addition, the lack of coordination between the bridge motor torque and the power battery current protection often leads to the problem of asynchronous changes in the bridge motor torque. Summary of the Invention

[0004] In view of the above defects or improvement needs in the prior art, an object of the present invention is to provide a battery current limiting protection method, device, equipment and storage medium.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] The present invention provides a battery current limiting protection method, comprising the following steps:

[0007] Determine the first execution target torque of each bridge motor according to the peak power of each bridge motor and the peak power of the power battery;

[0008] determining a dynamic change value of the torque of each bridge motor according to the power battery peak power, the power battery discharge power, and the first execution target torque;

[0009] The final target torque of each bridge motor is determined according to the first execution target torque and the torque dynamic change value:

[0010] ;

[0011] in, is the final target torque of the j-th bridge motor, is the first execution target torque of the j-th bridge motor, is the dynamic change value of the torque of the j-th bridge motor.

[0012] Furthermore, the step of determining the first execution target torque of each bridge motor according to the peak power of each bridge motor and the peak power of the power battery includes:

[0013] Determining the maximum usable power allowed for each bridge motor based on the peak power of each bridge motor and the peak power of the power battery;

[0014] Determining the maximum target torque allowed to be output by each bridge motor based on the maximum available power;

[0015] The first execution target torque of each bridge motor is determined according to the maximum target torque.

[0016] Furthermore, the step of determining the maximum usable power allowed for each bridge motor based on the peak power of each bridge motor and the peak power of the power battery includes:

[0017] According to the peak power of each bridge motor, the first proportional coefficient of each bridge motor is determined:

[0018] ;

[0019] in, is the first proportional coefficient of the j-th bridge motor, is the peak power of the jth bridge motor, and n is the total number of bridge motors configured in the vehicle.

[0020] Furthermore, the step of determining the maximum usable power allowed for each bridge motor based on the peak power of each bridge motor and the peak power of the power battery further includes:

[0021] The maximum usable power allowed by each bridge motor is determined based on the first proportional coefficient and the peak power of the power battery:

[0022] ;

[0023] in, is the maximum available power allowed for the j-th bridge motor, is the peak power of the power battery.

[0024] Furthermore, the step of determining the maximum target torque that each bridge motor is allowed to output based on the maximum available power includes:

[0025] The maximum target torque allowed to be output by each bridge motor is determined based on the current speed, acceleration of the speed, and the maximum available power of each bridge motor:

[0026] ;

[0027] in, is the maximum target torque allowed to be output by the j-th bridge motor, is the current speed of the j-th bridge motor, is the acceleration of the current j-th bridge motor speed, The execution time period is set.

[0028] Furthermore, the step of determining the first execution target torque of each bridge motor according to the maximum target torque includes:

[0029] According to the driver's intended target torque and the maximum target torque, the first execution target torque of each bridge motor is determined:

[0030] ;

[0031] in, is the driver’s intended target torque for the j-th bridge motor.

[0032] Furthermore, the step of determining the dynamic change value of the torque of each bridge motor according to the power battery peak power, the power battery discharge power and the first execution target torque includes:

[0033] determining a total reference value of a dynamic change of torque according to the peak power of the power battery and the discharge power of the power battery;

[0034] determining a second proportional coefficient of each bridge motor according to the first execution target torque;

[0035] The dynamic change value of the torque of each bridge motor is determined according to the dynamic change reference total value of the torque and the second proportional coefficient:

[0036] ;

[0037] in, is the second proportional coefficient of the j-th bridge motor, It is the total reference value of the dynamic change of torque.

[0038] Furthermore, the step of determining a total reference value of a dynamic change of torque according to the power battery peak power and the power battery discharge power includes:

[0039] Determining a functional relationship between a total reference value of a dynamic change in the torque and a power difference between a power battery peak power and a power battery discharge power;

[0040] According to the functional relationship, a dynamic change total reference value of the current torque is determined.

[0041] Furthermore, the functional relationship is:

[0042] When the power battery discharge power is greater than the power battery peak power, the expression of the functional relationship is:

[0043] ;

[0044] When the power battery discharge power is less than or equal to the power battery peak power, the functional relationship is expressed as follows:

[0045] ;

[0046] in, is the total voltage of the current power battery, is the current discharge current of the power battery, is the proportionality coefficient, is the integral coefficient, t is Greater than Duration.

[0047] Furthermore, the step of determining the second proportional coefficient of each bridge motor according to the first execution target torque includes:

[0048] The second proportional coefficient of each bridge motor is determined according to the ratio of the first execution target torque of each bridge motor to the sum of the first execution torques of each bridge motor:

[0049] ;

[0050] Where n is the total number of bridge motors configured in the vehicle.

[0051] The present invention also provides a battery current limiting protection device, comprising:

[0052] The first module is used to obtain the peak power of each bridge motor, the peak power of the power battery and the discharge power of the power battery;

[0053] The second module is used to determine the first execution target torque, the dynamic change value of the torque and the final target torque of each bridge motor; and

[0054] The third module is used to control each bridge motor to output torque according to the final target torque.

[0055] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the battery current limiting protection method when executing the computer program.

[0056] The present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the battery current limiting protection method are implemented.

[0057] Beneficial effects of the present invention:

[0058] The present invention determines the first execution torque of each bridge motor according to the peak power of each bridge motor and the peak power of the power battery, and distributes the power of the power battery in real time through the relationship between the peak powers of each bridge motor; determines the dynamic change value of the torque of each bridge motor according to the peak power of the power battery, the discharge power of the power battery and the first execution target torque, and realizes the coordinated change of multiple bridge motors and protects the vehicle power battery by distributing the dynamic change value of the torque in real time; determines the final target torque of each bridge motor according to the first execution target torque and the dynamic change value of the torque, which not only avoids the over-discharge problem of the power battery during uniform speed driving, driving with low acceleration, and rapid acceleration and deceleration, but also realizes the synchronous change of each bridge motor, avoids the abnormal driving of the vehicle caused by the torque asynchrony between the bridge motors, and greatly improves the driving reliability and safety of the vehicle.

[0059] Additional aspects and advantages of the present application will be given in part in the following description, which will become apparent from the following description, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0061] Figure 1 is a flow chart of a battery current limiting protection method according to an embodiment of the present invention;

[0062] Figure 2 Schematic diagram of a battery current limiting protection device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0063] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0064] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0065] Those skilled in the art will understand that, unless otherwise stated, the singular forms "a," "an," "said," and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of this application refers to the presence of the stated features, integers, steps, operations, elements, and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or combinations thereof.

[0066] Those skilled in the art will understand that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as those generally understood by those skilled in the art to which this application belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with those in the context of the prior art, and will not be interpreted in an idealized or overly formal sense unless specifically defined as in the examples of this application.

[0067] This embodiment provides a battery current limiting protection method, which is applied to the electronic control system of an electric vehicle.

[0068] The flow chart of the battery current limiting protection method in this embodiment is as follows: Figure 1 As shown, steps S10-S30 are included.

[0069] S10 , determining a first execution torque of each bridge motor according to the peak power of each bridge motor and the peak power of the power battery.

[0070] Furthermore, step S10 includes steps S101-S103.

[0071] S101 : Determine the maximum allowable power of each bridge motor according to the peak power of each bridge motor and the peak power of the power battery.

[0072] As a feasible implementation, step S101 can be implemented by the following steps:

[0073] The first proportional coefficient of each bridge motor is determined according to the peak power of each bridge motor.

[0074] Specifically, in this embodiment, the calculation formula of the first proportional coefficient of each bridge motor is:

[0075] ;

[0076] in, is the first proportional coefficient of the j-th bridge motor, is the peak power of the jth bridge motor, and n is the total number of bridge motors configured in the vehicle.

[0077] It can be understood that, in this embodiment, the first proportional coefficient of each bridge motor is the ratio of the peak power of each bridge motor to the total peak power of the bridge motors of the entire vehicle.

[0078] Based on the first proportional coefficient and the peak power of the power battery, the maximum usable power allowed for each bridge motor is determined:

[0079] ;

[0080] in, is the maximum available power allowed for the j-th bridge motor, is the peak power of the power battery. In this embodiment, the peak power of the power battery is calculated by the power battery management system according to the working state of the power battery.

[0081] It can be understood from the above implementation that in this embodiment, the maximum usable power allowed by each bridge motor is to distribute the peak power of the power battery to each bridge motor in proportion to the peak power of each bridge motor, so that each bridge motor can output at its maximum output capacity at the same time.

[0082] As another feasible implementation, step S101 may also be implemented by the following steps:

[0083] Based on the minimum peak power of the entire vehicle's axle motors, calculate in real time the ratio of the peak power of each axle motor to the minimum peak power of the entire vehicle's axle motors:

[0084] ;

[0085] in, is the ratio of the peak power of the jth bridge motor to the minimum peak power of the entire vehicle bridge motor. It can be understood that, Greater than or equal to 1.

[0086] Calculate the sum of the ratios of the peak power of each bridge motor to the minimum peak power of the vehicle motor:

[0087] ;

[0088] in, It is the sum of the ratios of the peak power of each bridge motor to the minimum peak power of the vehicle motor.

[0089] The reference power of the bridge motor is calculated based on the sum of the ratio of the peak power of each bridge motor to the minimum value of the peak power of the entire vehicle motor and the peak power of the power battery. The sum of the reference power of the bridge motor multiplied by the ratio of the peak power of each bridge motor to the minimum value of the peak power of the entire vehicle motor is equal to the peak power of the power battery, that is:

[0090] ;

[0091] Furthermore, we can know that the reference power allowed for the bridge motor is:

[0092] ;

[0093] in, Refer to the allowable base power for the bridge motor.

[0094] The maximum usable power of each axle motor is calculated based on the reference power allowed for the axle motor and the ratio of the peak power of each axle motor to the minimum of the peak power of the axle motor of the entire vehicle:

[0095] .

[0096] Furthermore, we know that:

[0097] ;

[0098] It can be seen that the peak power of the power battery is distributed to each bridge motor according to the ratio of the peak power of each bridge motor, so that each bridge motor can output at its maximum capacity at the same time.

[0099] S102: Determine the maximum target torque allowed to be output by each bridge motor according to the maximum available power.

[0100] As a feasible implementation, step S102 can be implemented by the following steps:

[0101] Based on the current speed, acceleration, and maximum available power of each bridge motor, determine the maximum target torque allowed to be output by each bridge motor:

[0102] ;

[0103] in, is the maximum target torque allowed to be output by the j-th bridge motor, is the current speed of the j-th bridge motor, is the acceleration of the current j-th bridge motor speed, The execution time period is set.

[0104] It can be understood that, in this embodiment, the rotation speed of each bridge motor is obtained through a wheel speed sensor, and the acceleration of the rotation speed of each bridge motor is obtained through an acceleration sensor.

[0105] Furthermore, in the calculation formula of the maximum target torque allowed to be output by each bridge motor, the calculation speed is taken as It can be seen that, in this embodiment, the calculated rotational speed takes into account the influence of acceleration on the rotational speed, so as to avoid the calculated value of the maximum target torque being too large due to acceleration.

[0106] S103 : Determine a first execution torque of each bridge motor according to the maximum target torque.

[0107] As a feasible implementation, step S103 can be implemented by the following steps:

[0108] According to the driver's intended target torque and the maximum target torque, the first execution torque of each bridge motor is determined:

[0109] ;

[0110] in, is the driver’s intended target torque for the j-th bridge motor.

[0111] Specifically, the driver's intended target torque of each bridge motor is calculated based on the throttle opening.

[0112] When the vehicle is traveling at a constant speed and with low acceleration, controlling each axle's motor to output the first execution torque can prevent excessive battery current and protect the battery. However, during rapid acceleration and deceleration, system response delays can cause instantaneous over-discharge of the battery. Therefore, a control method to prevent instantaneous over-discharge of the battery during rapid acceleration and deceleration is required.

[0113] See also Figure 1 In this embodiment, the battery current limiting protection method further includes: S20, determining the dynamic change value of the torque of each bridge motor according to the power battery peak power, the power battery discharge power and the first execution torque.

[0114] Specifically, step S20 also includes steps S201-S203.

[0115] S201. Determine a total reference value of a dynamic change of torque according to a power battery peak power and a power battery discharge power.

[0116] As a feasible implementation, step S201 can be implemented by the following steps:

[0117] Determine the functional relationship between the total reference value of the dynamic change of torque and the power difference between the power battery peak power and the power battery discharge power: when the power battery discharge power is greater than the power battery peak power, the expression of the functional relationship is:

[0118] ;

[0119] When the power battery discharge power is less than or equal to the power battery peak power, the functional relationship is expressed as:

[0120] ;

[0121] in, is the total reference value of the dynamic change of torque, is the total voltage of the current power battery, is the current discharge current of the power battery, is the proportionality coefficient, is the integral coefficient, t is Greater than Duration.

[0122] According to the functional relationship, the total reference value of the dynamic change of the current torque is determined.

[0123] The battery current limiting protection method of this embodiment obtains the power battery's discharge power in real time and calculates the dynamic total reference value of torque based on the power battery discharge power. If the power battery discharge power is greater than the power battery's peak power, the PI algorithm is used to calculate the dynamic total reference value of torque based on the power difference between the power battery discharge power and the power battery's peak power. If the power battery discharge power is less than or equal to the power battery's peak power, the dynamic total reference value of torque is zero.

[0124] After determining the total reference value of the dynamic change of the torque, the total reference value of the dynamic change of the torque is distributed according to the ratio to determine the dynamic change value of the torque of each bridge motor.

[0125] S202: Determine a second proportional coefficient of each bridge motor according to the first execution torque.

[0126] As a feasible implementation, step S202 can be implemented by calculating method (1):

[0127] The second proportional coefficient of each bridge motor is determined according to the ratio of the first execution torque of each bridge motor to the sum of the first execution torques of each bridge motor:

[0128] ;

[0129] in, is the second proportional coefficient of the j-th bridge motor.

[0130] As another feasible implementation, step S202 can also be implemented by calculation method (2):

[0131] Taking the minimum value of the first execution torque of each bridge motor as a reference, calculate the ratio of the first execution torque of each bridge motor to the minimum value of the first execution torque of the entire vehicle bridge motor:

[0132] ;

[0133] in: ——The ratio of the first execution torque of the jth bridge motor to the minimum value of the first execution torque of the entire vehicle bridge motor.

[0134] Furthermore, we can know that:

[0135] .

[0136] Calculate the percentage of the ratio of the first execution torque of each bridge motor to the minimum value of the first execution torque of the entire vehicle bridge motor to the total ratio of the first execution torque of each bridge motor to the minimum value of the first execution torque of the entire vehicle bridge motor:

[0137] .

[0138] S203, determining the dynamic change value of the torque of each bridge motor according to the dynamic change reference total value of the torque and the second proportional coefficient:

[0139] ;

[0140] Among them, QUOTE The above calculation process shows that, in this embodiment, the sum of the dynamic torque change values ​​of each bridge motor is equal to the total reference value of the dynamic torque protection of the power battery current transient protection.

[0141] Substituting the second proportional coefficient determined by calculation method (1) into the calculation formula of the dynamic change value of the torque of each bridge motor, it can be seen that:

[0142] ;

[0143] Furthermore, we know that:

[0144] ;

[0145] Then we have:

[0146] ;

[0147] After simplifying the calculation, the derivation can be obtained:

[0148] ;

[0149] Right now:

[0150] ;

[0151] The sum of the dynamic change values ​​of the torque of each bridge motor is equal to the total reference value of the dynamic change of the torque of the power battery transient protection.

[0152] Substituting the second proportional coefficient determined by calculation method (2) into the calculation formula of the dynamic change value of the torque of each bridge motor, it can be seen that:

[0153] ;

[0154] Furthermore, the dynamic change value of the torque of each bridge motor can be known:

[0155] ;

[0156] Furthermore, we know that:

[0157] ;

[0158] Furthermore, we know that:

[0159] ;

[0160] Furthermore, we know that:

[0161] ;

[0162] Furthermore, we know that:

[0163] ;

[0164] Right now:

[0165] ;

[0166] The sum of the dynamic change values ​​of the torque of each bridge motor is equal to the total reference value of the dynamic change of the torque of the power battery transient protection.

[0167] In summary, the second proportional coefficients obtained by calculation method (1) and calculation method (2) are used to determine the dynamic change value of the torque of each bridge motor, and both satisfy that the sum of the dynamic change value of the torque of each bridge motor is equal to the total reference value of the dynamic change of the torque of the power battery transient protection.

[0168] Continue to see Figure 1 In this embodiment, the battery current limiting protection method further includes: S30, determining the final target torque of each bridge motor according to the first execution torque and the torque dynamic change value:

[0169] ;

[0170] in, is the final target torque of the j-th bridge motor.

[0171] The final target torque of each bridge motor is obtained by subtracting the dynamic change value of the torque of each bridge motor from the first execution torque of each bridge motor, thereby dynamically protecting the power battery during rapid acceleration and deceleration.

[0172] Substitute the second proportional coefficient obtained by calculation method (1) into the final target torque of each bridge motor:

[0173] ;

[0174] Furthermore, we can get:

[0175] ;

[0176] Ensure the synchronous change of each bridge motor, and Greater than or equal to 0.

[0177] when .

[0178] Substitute the second proportional coefficient obtained by calculation method (2) into the final target torque of each bridge motor:

[0179] ;

[0180] Further,

[0181] ;

[0182] Ensure the synchronous change of each bridge motor, and Greater than or equal to 0.

[0183] when .

[0184] The battery current limiting protection method in this embodiment distributes power to the power battery in real time based on the peak power of each bridge motor. By distributing the dynamic change value of torque in real time, the coordinated change of multiple bridge motors is achieved and the vehicle power battery is protected. This not only avoids over-discharge of the power battery during rapid acceleration and deceleration, but also achieves synchronous changes of the bridge motors, avoids abnormal vehicle driving caused by torque asynchrony between the bridge motors, and greatly improves the reliability and safety of vehicle driving.

[0185] This embodiment also provides a battery current limiting protection device, Figure 2 Schematic diagram of the battery current limiting protection device provided in this embodiment.

[0186] like Figure 2 As shown, the battery current limiting protection device includes a first module 21 , a second module 22 and a third module 23 .

[0187] The first module 21 is used to obtain the peak power of each bridge motor, the peak power of the power battery and the discharge power of the power battery.

[0188] The second module 22 is used to determine the first execution target torque, the torque dynamic change value and the final target torque of each bridge motor.

[0189] The third module 23 is used to control each bridge motor to output torque according to the final target torque.

[0190] It should be noted that the battery current limiting protection device provided in this embodiment may also be a computer program (including program code) running on a computer device. For example, the battery current limiting protection device is an application program that can be used to execute the corresponding steps of the above-mentioned method provided in the embodiment of the present application. In some feasible embodiments, the battery current limiting protection device provided in this embodiment can be implemented using a combination of software and hardware. In some feasible embodiments, the battery current limiting protection device provided in this embodiment can be implemented using software, which can be software in the form of a program and a plug-in, and includes a series of modules to implement the battery current limiting protection method provided in the embodiment of the present invention.

[0191] This embodiment further provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. It is understood that in the electronic device of this embodiment of the application, the processor can implement the battery current limiting protection method of this embodiment when executing the computer program.

[0192] This embodiment further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, each step of the battery current limiting protection method in this embodiment is implemented.

[0193] It should be understood that although the steps in the flowcharts of the accompanying drawings are shown in sequence as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the flowcharts of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0194] The above description is only part of the implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A battery current limiting protection method, characterized in that: The following steps are involved: Determine the first execution target torque of each bridge motor according to the peak power of each bridge motor and the peak power of the power battery; determining a dynamic change value of the torque of each bridge motor according to the power battery peak power, the power battery discharge power, and the first execution target torque; The final target torque of each bridge motor is determined according to the first execution target torque and the torque dynamic change value: ； in, is the final target torque of the j-th bridge motor, is the first execution target torque of the j-th bridge motor, is the dynamic change value of the torque of the j-th bridge motor; The step of determining the first execution target torque of each bridge motor according to the peak power of each bridge motor and the peak power of the power battery includes: Determining the maximum usable power allowed for each bridge motor based on the peak power of each bridge motor and the peak power of the power battery; Determining the maximum target torque allowed to be output by each bridge motor based on the maximum available power; Determining a first execution target torque of each bridge motor according to the maximum target torque; The step of determining the maximum usable power allowed for each bridge motor according to the peak power of each bridge motor and the peak power of the power battery includes: According to the peak power of each bridge motor, the first proportional coefficient of each bridge motor is determined: ； in, is the first proportional coefficient of the j-th bridge motor, is the peak power of the jth bridge motor, and n is the total number of bridge motors configured in the vehicle; The step of determining the maximum usable power allowed for each bridge motor based on the peak power of each bridge motor and the peak power of the power battery further includes: The maximum usable power allowed by each bridge motor is determined based on the first proportional coefficient and the peak power of the power battery: ； in, is the maximum available power allowed for the j-th bridge motor, is the peak power of the power battery.

2. A battery current limiting protection method according to claim 1, characterized in that: The step of determining the maximum target torque allowed to be output by each bridge motor according to the maximum available power includes: The maximum target torque allowed to be output by each bridge motor is determined based on the current speed, acceleration of the speed, and the maximum available power of each bridge motor: ； in, is the maximum target torque allowed to be output by the j-th bridge motor, is the current speed of the j-th bridge motor, is the acceleration of the current j-th bridge motor speed, The execution time period is set.

3. A battery current limiting protection method as claimed in claim 2, characterized in that: The step of determining the first execution target torque of each bridge motor according to the maximum target torque includes: According to the driver's intended target torque and the maximum target torque, the first execution target torque of each bridge motor is determined: ； in, is the driver’s intended target torque for the j-th bridge motor.

4. A battery current limiting protection method as claimed in claim 3, characterized in that: The step of determining the dynamic change value of the torque of each bridge motor according to the power battery peak power, the power battery discharge power and the first execution target torque includes: determining a total reference value of a dynamic change of torque according to the peak power of the power battery and the discharge power of the power battery; determining a second proportional coefficient of each bridge motor according to the first execution target torque; The dynamic change value of the torque of each bridge motor is determined according to the dynamic change reference total value of the torque and the second proportional coefficient: ； in, is the second proportional coefficient of the j-th bridge motor, It is the total reference value of the dynamic change of torque.

5. A battery current limiting protection method as claimed in claim 4, characterized in that: The step of determining a dynamic change total reference value of torque according to the power battery peak power and the power battery discharge power includes: Determining a functional relationship between a total reference value of a dynamic change in the torque and a power difference between a power battery peak power and a power battery discharge power; According to the functional relationship, a dynamic change total reference value of the current torque is determined.

6. A battery current limiting protection method as claimed in claim 5, characterized in that: The functional relationship is: When the power battery discharge power is greater than the power battery peak power, the expression of the functional relationship is: ； When the power battery discharge power is less than or equal to the power battery peak power, the functional relationship is expressed as follows: ； in, is the total voltage of the current power battery, is the current discharge current of the power battery, is the proportionality coefficient, is the integral coefficient, t is Greater than Duration.

7. A battery current limiting protection method as claimed in claim 4, characterized in that: The step of determining the second proportional coefficient of each bridge motor according to the first execution target torque includes: The second proportional coefficient of each bridge motor is determined according to the ratio of the first execution target torque of each bridge motor to the sum of the first execution torques of each bridge motor: ； Where n is the total number of bridge motors configured in the vehicle.

8. A battery current limiting protection device, used to implement a battery current limiting protection method according to any one of claims 1 to 7, characterized in that: include: The first module is used to obtain the peak power of each bridge motor, the peak power of the power battery and the discharge power of the power battery; The second module is used to determine the first execution target torque, the dynamic change value of the torque and the final target torque of each bridge motor; as well as The third module is used to control each bridge motor to output torque according to the final target torque.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the battery current limiting protection method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the battery current limiting protection method according to any one of claims 1 to 7 are implemented.

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