Dual-motor power prediction method and device, electronic equipment and vehicle

Abstract

The disclosure provides a dual-motor power prediction method and device, electronic equipment and vehicle. The method comprises the following steps: for any third time, the first speed of the front drive motor at the third time and the second speed of the rear drive motor at the third time are predicted according to the sum of the first torque of the front drive motor at the previous moment of the third time and the second torque of the rear drive motor at the previous moment of the third time; the first power of the front drive motor at the plurality of third times is determined according to the first speed and the first torque of the plurality of third times, and the second power of the rear drive motor at the plurality of third times is determined according to the second speed and the second torque of the plurality of third times. Thus, the problem of inaccurate power prediction in the related art caused by real-time changes of external factors and internal factors during vehicle driving can be avoided, and the accuracy of power prediction is improved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of vehicles, and particularly relates to a dual-motor power prediction method and device, electronic equipment and vehicle. BACKGROUND

[0002] At present, dual-motor vehicles have higher safety and stronger controllability, and are the development trend of new energy vehicles. When the forced braking energy is recovered, the front drive motor or the rear drive motor in the dual-motor may cause the battery to be overcharged when the recovered power exceeds the power limit value. In addition, when the vehicle releases energy during acceleration, the increase in power consumption of the front drive motor or the rear drive motor may cause the battery to be over-discharged or even overheated. By predicting the power of the dual-motor and controlling the dual-motor in advance according to the predicted power, the problem of overcharging or over-discharging of the battery can be avoided, the risk of battery thermal runaway can be eliminated, and the safety of the vehicle can be ensured.

[0003] In related technologies, a power prediction model trained based on historical data is used to predict the power of the dual-motor at a future time. However, since the external factors (such as road conditions) and internal factors (such as driving demand) during vehicle driving are real-time changes, the power prediction model trained based on historical data cannot accurately predict the power of the dual-motor at the future time. SUMMARY

[0004] The present disclosure aims to at least solve one of the above technical problems in the technical field to some extent.

[0005] To this end, the present disclosure provides a dual-motor power prediction method, device, electronic equipment and vehicle, which can predict the rotation speed of the front drive motor and the rear drive motor at a third time according to the sum of the first torque of the front drive motor at a previous time of the third time and the second torque of the rear drive motor, obtain the first rotation speed of the front drive motor at the third time and the second rotation speed of the rear drive motor at the third time, determine the first power of the front drive motor at a plurality of third times according to the first torque and the first rotation speed of the plurality of third times, and determine the second power of the rear drive motor at a plurality of third times according to the second torque and the second rotation speed of the plurality of third times. Thus, when the first time is the current time, the rotation speed of the dual-motor at a future time after the current time can be predicted based on the real-time torque of the dual-motor at the current time and the real-time changing target torque at the future time, the real-time changing target rotation speed corresponding to the future time is obtained, the power at the future time is predicted according to the real-time changing target torque and the target rotation speed at the future time, and the real-time changing target power is obtained. The problem of inaccurate power prediction in related technologies caused by real-time changing external factors and internal factors during vehicle driving can be avoided, and the accuracy of power prediction is improved.

[0006] The first aspect of the present disclosure provides a double motor power prediction method, comprising: obtaining first torques of the front drive motor at a first time and a plurality of third times after the first time, and second torques of the rear drive motor at the first time and the plurality of third times; for any third time, predicting the rotation speeds of the front drive motor and the rear drive motor at the third time according to the sum of the first torque and the second torque at the time before the third time, to obtain a first rotation speed of the front drive motor at the third time and a second rotation speed of the rear drive motor at the third time; determining first powers of the front drive motor at the plurality of third times according to the first rotation speed and the first torque of the front drive motor at the plurality of third times, and determining second powers of the rear drive motor at the plurality of third times according to the second rotation speed and the second torque of the rear drive motor at the plurality of third times.

[0007] The second aspect of the present disclosure provides a double motor power prediction device, comprising: an obtaining module, configured to obtain first torques of the front drive motor at a first time and a plurality of third times after the first time, and second torques of the rear drive motor at the first time and the plurality of third times; a first determining module, configured to, for any third time, predict the rotation speeds of the front drive motor and the rear drive motor at the third time according to the sum of the first torque and the second torque at the time before the third time, to obtain a first rotation speed of the front drive motor at the third time and a second rotation speed of the rear drive motor at the third time; and a second determining module, configured to determine first powers of the front drive motor at the plurality of third times according to the first rotation speed and the first torque of the front drive motor at the plurality of third times, and determine second powers of the rear drive motor at the plurality of third times according to the second rotation speed and the second torque of the rear drive motor at the plurality of third times.

[0008] The third aspect of the present disclosure provides an electronic device, comprising: at least one processor; and a memory connected with the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the double motor power prediction method of the first aspect of the present disclosure.

[0009] The fourth aspect of the present disclosure provides a vehicle comprising the electronic device of the third aspect of the present disclosure.

[0010] The fifth aspect of the present disclosure provides a computer readable storage medium, having a computer program stored thereon, wherein the computer program is executed by a processor to implement the double motor power prediction method of the first aspect of the present disclosure.

[0011] A sixth aspect of the present disclosure provides a computer program product comprising computer instructions, wherein a computer program is stored on the computer instructions, and the computer instructions are executed by a processor to implement the double-motor power prediction method of the first aspect of the present disclosure.

[0012] The technical solution of the present disclosure comprises the following steps: obtaining a first torque of a front drive motor at a first time and a plurality of third times after the first time, and a second torque of a rear drive motor at the first time and the plurality of third times; for any third time, the speed of the front drive motor and the rear drive motor at the third time is predicted according to the sum of the first torque and the second torque at the time before the third time, to obtain a first speed of the front drive motor at the third time and a second speed of the rear drive motor at the third time; the first power of the front drive motor at the plurality of third times is determined according to the first speed and the first torque of the front drive motor at the plurality of third times, and the second power of the rear drive motor at the plurality of third times is determined according to the second speed and the second torque of the rear drive motor at the plurality of third times. Thus, when the first time is the current time, the speed of the double motor at the future time after the current time can be predicted based on the obtained real-time torque of the double motor at the current time and the real-time changing target torque at the future time, to obtain the real-time changing target speed corresponding to the future time, and the power at the future time is predicted according to the real-time changing target torque and the target speed at the future time, to obtain the real-time changing target power. The problem of inaccurate power prediction caused by real-time changing external factors and internal factors during vehicle driving can be avoided, and the accuracy of power prediction is improved.

[0013] The additional aspects and advantages of the present disclosure will be partially given in the following description, partially become obvious from the following description, or be understood through the practice of the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0014] The above and / or additional aspects and advantages of the present disclosure will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:

[0015] Figure 1 A flowchart of a double-motor power prediction method according to one embodiment of the present disclosure;

[0016] Figure 2 A flowchart of a double-motor power prediction method according to one embodiment of the present disclosure;

[0017] Figure 3 A flowchart of a double-motor power prediction method according to one embodiment of the present disclosure;

[0018] Figure 4A flowchart of a dual-motor power prediction method according to an embodiment of the present disclosure;

[0019] Figure 5 A structural diagram of a dual-motor system speed prediction model according to an embodiment of the present disclosure;

[0020] Figure 6 A diagram for predicting a speed of a dual-motor at a next moment according to a driving torque and a speed of the dual-motor at a last moment according to an embodiment of the present disclosure;

[0021] Figure 7 A structural diagram of a dual-motor power prediction device according to an embodiment of the present disclosure;

[0022] Figure 8 A structural block diagram of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0023] Embodiments of the present disclosure are described in detail below with reference to the accompanying drawings, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present disclosure, and cannot be understood as a limitation of the present disclosure.

[0024] In the related art, whether using a traditional data fitting method, or a machine learning or even a deep learning method, a prediction rule is extracted from past historical data to fit a prediction model. However, for a vehicle in a driving process, there are two problems: (1) the vehicle operating state and the execution target are instantaneously changing, the prediction model trained by historical data cannot cover all cases, and the random changes of external factors (such as road conditions) and internal factors (such as driving demand) of the vehicle seriously affect the accuracy of the prediction model; (2) the prediction model trained based on historical data is too dependent on the data source object, and the trained prediction model is difficult to take other vehicles into account, and cannot be applied to all vehicles in mass production, and the model has poor applicability.

[0025] Therefore, in view of the above problems, the present disclosure provides a dual-motor power prediction method, device, electronic device and vehicle.

[0026] The dual-motor power prediction method, device, electronic device and vehicle of the embodiments of the present disclosure are described below with reference to the accompanying drawings.

[0027] Figure 1A flowchart of a double-motor power prediction method according to an embodiment of the present disclosure is shown. It should be noted that the double-motor power prediction method of the embodiment of the present disclosure can be applied to a double-motor power prediction device of the embodiment of the present disclosure, which can be configured on an electronic device, such as a car machine system, a vehicle-mounted device, etc.

[0028] As shown in Figure 1 , the double-motor power prediction method can include the following steps:

[0029] In step 101, the first torque of the front drive motor at the first time and the plurality of third times after the first time, and the second torque of the rear drive motor at the first time and the plurality of third times are obtained.

[0030] As an example, the first historical torque request of the front drive motor of the target vehicle at the plurality of second times before the first time is obtained; the torque of the front drive motor is predicted according to the plurality of first historical requests to obtain the first torque of the front drive motor at the first time and the plurality of third times after the first time; the second historical torque request of the front drive motor of the target vehicle at the plurality of second times before the first time is obtained; the torque of the rear drive motor is predicted according to the plurality of second historical requests to obtain the second torque of the rear drive motor at the first time and the plurality of third times.

[0031] In the embodiment of the present disclosure, the double-motor includes the front drive motor and the rear drive motor of the target vehicle. Since there is a time delay between the output torque and the torque request of the front drive motor, the first historical torque request of the front drive motor at the second time within a set period before the first time can be obtained from the running log of the target vehicle or the storage device, and the torque of the front drive motor is predicted according to the torque requested in the first historical torque request of the front drive motor at the plurality of second times before the first time to obtain the first torque of the front drive motor at the plurality of third times after the first time. Similarly, there is a time delay between the output torque and the torque request of the rear drive motor, and the second historical torque request of the rear drive motor at the second time within a set period before the first time is obtained from the running log of the target vehicle or the storage device, and the torque of the rear drive motor is predicted according to the torque requested in the second historical torque request of the rear drive motor at the plurality of second times before the first time to obtain the second torque of the rear drive motor at the first time and the plurality of third times. It should be noted that the first time can be the current time.

[0032] In step 102, for any third time, the rotational speed of the front drive motor and the rear drive motor at the third time is predicted according to the sum of the first torque and the second torque at the previous time of the third time, respectively, to obtain the first rotational speed of the front drive motor at the third time and the second rotational speed of the rear drive motor at the third time.

[0033] In the embodiments of the present disclosure, the speed of the front drive motor at any third time is predicted according to the sum of the first torque and the second torque at the time before the third time, and the speed of the front drive motor at the third time is taken as the first speed; similarly, the speed of the rear drive motor at any third time is predicted according to the sum of the first torque and the second torque at the time before the third time, and the speed of the rear drive motor at the third time is taken as the second speed.

[0034] In the embodiments of the present disclosure, the first power of the front drive motor at any third time is determined according to the product of the first torque and the first speed at the third time; the first power of the front drive motor at multiple third times is determined according to the first power of the front drive motor at any third time; similarly, the second power of the rear drive motor at any third time is determined according to the product of the second torque and the second speed at the third time; the second power of the rear drive motor at multiple third times is determined according to the second power of the rear drive motor at any third time.

[0035] In the embodiments of the present disclosure, for any third time, the first torque and the first speed at the third time are obtained, the first power of the front drive motor at the third time is determined according to the product of the first torque and the first speed at the third time; the first power of the front drive motor at multiple third times is determined according to the first power of the front drive motor at any third time; similarly, the second torque and the second speed at the third time are obtained, the second power of the rear drive motor at the third time is determined according to the product of the second torque and the second speed at the third time; the second power of the rear drive motor at multiple third times is determined according to the second power of the rear drive motor at any third time.

[0036] In summary, by obtaining the first torque of the front drive motor at the first time and the multiple third times after the first time, and the second torque of the rear drive motor at the first time and the multiple third times; for any third time, the first speed of the front drive motor at the third time and the second speed of the rear drive motor at the third time are determined according to the sum of the first torque and the second torque at the time before the third time; the first power of the front drive motor at multiple third times is determined according to the first speed and the first torque of the front drive motor at the multiple third times, and the second power of the rear drive motor at multiple third times is determined according to the second speed and the second torque of the rear drive motor at the multiple third times, thereby, when the first time is the current time, the future speed of the double motors at the future time after the current time can be predicted based on the obtained real-time torque of the double motors at the current time and the real-time changing target torque at the future time, the real-time changing target speed corresponding to the future time is obtained, and the power at the future time is predicted according to the real-time changing target torque and the target speed at the future time, the real-time changing target power is obtained, which can avoid the problem of inaccurate power prediction caused by real-time changing external factors and internal factors in the vehicle driving process, and improve the accuracy of power prediction.

[0037] To clearly illustrate how the first rotational speed of the front drive motor at any third time and the second rotational speed of the rear drive motor at the third time are determined according to the sum of the first torque and the second torque at the previous time of the third time, respectively, in the above-mentioned embodiments, the present disclosure proposes another dual-motor power prediction method.

[0038] Figure 2 A flowchart of the dual-motor power prediction method according to an embodiment of the present disclosure.

[0039] As shown in Figure 2 , the dual-motor power prediction method can include the following steps:

[0040] Step 201: Obtain the first torque of the front drive motor at a first time and a plurality of third times after the first time, and the second torque of the rear drive motor at the first time and the plurality of third times.

[0041] Step 202: Determine the load torque of the dual motor at the first time and the plurality of third times.

[0042] Optionally, the first set slip rate of the front drive motor and the second set slip rate of the rear drive motor are obtained; when the first set slip rate is less than the second set slip rate, the wheel side resistance of the target vehicle is predicted based on the set plurality of driving resistance coefficients of the target vehicle and the driving speed at the first time and the plurality of third times, to obtain the wheel side resistance of the target vehicle at the first time and the plurality of third times; wherein the driving speed at the first time is determined according to the first rotational speed at the first time, and the driving speed at any third time is determined according to the first rotational speed at the third time; the ratio between the product of the wheel side resistance at the first time and the wheel rolling radius of the target vehicle and the set front drive motor speed ratio is taken as the load torque at the first time, and the ratio between the product of the wheel side resistance at each third time and the wheel rolling radius of the target vehicle and the set front drive motor speed ratio is taken as the load torque at each third time.

[0043] It should be understood that the load torque of the motor can be predicted according to the wheel side resistance, which can be specifically expressed as the following formula:

[0044]

[0045] Wherein, T load is the load torque of the motor; F r is the wheel side resistance during vehicle driving; r r is the wheel rolling radius; i0 is the motor speed ratio. In the embodiments of the present disclosure, the wheel side resistance during vehicle driving can be predicted using a driving resistance model based on the driving speed, which can be expressed as the following formula:

[0046] F r (t) = k0 + k1v(t) + k2v(t) 2 ;

[0047] wherein, F r is the wheel side resistance in the process of vehicle driving; v is the driving speed of the vehicle; k0, k1 and k2 are the set driving resistance coefficients, k0, k1 and k2 can be vectors, and k0, k1 and k2 can be solved in advance according to test data combined with numerical methods based on optimization calculation.

[0048] It should be noted that the predicted motor speed can be converted to obtain the driving speed of the vehicle, and the specific conversion process can be represented by the following formula:

[0049]

[0050] wherein, v is the driving speed of the vehicle, ω mot is the reference motor speed, r r is the wheel rolling radius, i0 is the motor speed ratio, and it should be noted that for a dual-motor drive system, the rear drive motor is the main drive motor, and the front drive motor is the auxiliary drive motor, and the slip rate of the front wheel is low. Therefore, in the embodiment of the disclosure, the speed and speed ratio of the front drive motor can be selected to predict the vehicle speed sequence in the future time domain, and finally the motor load torque sequence in the future time domain is obtained, and the corresponding prediction model is as follows:

[0051]

[0052] wherein, T load is the motor load torque; ω Fr is the predicted value of the speed of the front drive motor; r r is the wheel rolling radius; i Fr is the front drive motor speed ratio; k0, k1 and k2 are the set driving resistance coefficients.

[0053] Further, based on the prediction model corresponding to the load torque sequence, the load torque of the dual-motor at the first time is determined according to the predicted value of the speed of the front drive motor at the first time, the wheel rolling radius of the target vehicle and the set front drive motor speed ratio. Similarly, for any third time, the load torque of the dual-motor at any third time can be determined according to the predicted value of the speed of the front drive motor at any third time, the wheel rolling radius of the target vehicle and the set front drive motor speed ratio.

[0054] Step 203, for any third time, the sum of the first torque and the second torque at the previous time of the third time is taken as the first coefficient.

[0055] In the embodiments of the present disclosure, for any third time, the first torque and the second torque of the previous time of the third time are added to obtain the first coefficient.

[0056] In step 204, the difference between the first coefficient of the previous time of the third time and the load torque of the previous time of the third time is taken as the second coefficient.

[0057] Further, for any third time, the difference between the first coefficient of the previous time of the third time and the corresponding load torque is taken as the second coefficient.

[0058] In step 205, the integral calculation is performed based on the second coefficient of the previous time of the third time in the time interval between the previous time of the third time and the third time to obtain the first speed of the front drive motor at the third time and the second speed of the rear drive motor at the third time.

[0059] Further, the integral calculation is performed based on the second coefficient of the previous time of the third time to predict the speed of the front drive motor at the third time to obtain the first speed, wherein the first speed is positively correlated with the second coefficient.

[0060] Similarly, the integral calculation is performed based on the second coefficient of the previous time of the third time to predict the speed of the rear drive motor at the third time to obtain the second speed, wherein the second speed is positively correlated with the second coefficient.

[0061] As a possible implementation manner of the embodiments of the present disclosure, the first set damping coefficient corresponding to the front drive motor and the second set damping coefficient corresponding to the rear drive motor are obtained; the product of the first set damping coefficient and the first speed of the front drive motor at the previous time of the third time is taken as the third coefficient, and the product of the second set damping coefficient and the second speed of the rear drive motor at the previous time of the third time is taken as the fourth coefficient; the integral calculation is performed according to the difference between the second coefficient of the previous time of the third time and the third coefficient in the time interval between the previous time of the third time and the third time to obtain the first speed of the front drive motor at the third time; the integral calculation is performed according to the difference between the second coefficient of the previous time of the third time and the fourth coefficient in the time interval between the previous time of the third time and the third time to obtain the second speed of the rear drive motor at the third time.

[0062] In order to improve the accuracy and applicability of the speed prediction, in the embodiments of the present disclosure, the rigid body fixed-axis rotation theorem can be used for dynamic modeling of the dual-motor system, the speeds of the front drive motor and the rear drive motor at the next moment are predicted based on the dynamic model of the dual-motor system, in order to improve the accuracy of the speed prediction of the front drive motor and the rear drive motor, the first set damping coefficient corresponding to the front drive motor and the second set damping coefficient corresponding to the rear drive motor are used to modify the dynamic model of the dual-motor system, and the final dynamic model of the dual-motor system is obtained, which can be specifically expressed as the following formula:

[0063]

[0064] wherein, t i+1 is the third moment, t i is the moment before t i+1 , is the first speed of the front drive motor at t i+1 moment, is the second speed of the rear drive motor at t i+1 moment, is the first torque of the front drive motor at t i moment, is the second torque of the rear drive motor at t i moment, is the load torque of the dual-motor at t i moment; is the first speed of the front drive motor at t i moment, is the second speed of the rear drive motor. J Fr is the set moment of inertia of the front drive motor, J Re is the set moment of inertia of the rear drive motor; D Fr is the first set damping coefficient of the front drive motor, D Re is the second set damping coefficient of the rear drive motor, is the second coefficient, is the third coefficient, is the fourth coefficient.

[0065] It should be noted that the calculation method of the above formula is only exemplary, and those skilled in the art can also set other calculation formulas according to actual conditions. For example, those skilled in the art can also add some correction coefficients, weight coefficients, etc. in the above calculation formula. The change of such specific calculation method does not deviate from the basic principle of the present disclosure, and belongs to the protection scope of the present disclosure.

[0066] In step 206, the first power of the front drive motor at the plurality of third time points is determined according to the first rotating speed and the first torque of the front drive motor at the plurality of third time points, and the second power of the rear drive motor at the plurality of third time points is determined according to the second rotating speed and the second torque of the rear drive motor at the plurality of third time points.

[0067] It should be noted that the execution processes of steps 201 and 206 can be implemented by any of the embodiments of the present disclosure, and the embodiments of the present disclosure do not limit this, and will not be repeated here.

[0068] In summary, by determining the load torque of the double motor at the first time point and the plurality of third time points, for any third time point, the sum of the first torque and the second torque at the previous time point of the third time point is taken as the first coefficient, the difference between the first coefficient at the previous time point of the third time point and the load torque at the previous time point of the third time point is taken as the second coefficient, and the integral calculation is performed based on the second coefficient at the previous time point of the third time point in the time interval between the previous time point of the third time point and the third time point, to obtain the first rotating speed of the front drive motor at the third time point and the second rotating speed of the rear drive motor at the third time point. Thus, in the rotating speed prediction process of the front drive motor and the rear drive motor, the load torque is combined for prediction, which improves the accuracy of the rotating speed prediction.

[0069] In order to avoid the problem of overcharging or overdischarging of the battery, eliminate the risk of battery thermal runaway, and ensure the safety of the vehicle, in the embodiments of the present disclosure, the first torque of the front drive motor at the first time point and the second torque of the rear drive motor at the first time point are updated at least once according to the first power of the front drive motor at the plurality of third time points and the second power of the rear drive motor at the plurality of third time points. At the first time point, the front drive motor is controlled according to the first torque obtained by the last update, and the rear drive motor is controlled according to the second torque obtained by the last update. The following will be described in detail. Figure 3

[0070] Figure 3 The flowchart of the double motor power prediction method according to one embodiment of the present disclosure is shown in the figure.

[0071] As Figure 3 shown, the double motor power prediction method can include the following steps:

[0072] In step 301, the first torque of the front drive motor at the first time point and the plurality of third time points after the first time point, and the second torque of the rear drive motor at the first time point and the plurality of third time points are obtained.

[0073] ​At step 302, for any third time, the speeds of the front drive motor and the rear drive motor at the third time are predicted according to the sum of the first torque and the second torque at the time before the third time, respectively, to determine the first speed of the front drive motor at the third time and the second speed of the rear drive motor at the third time.

[0074] At step 303, the first power of the front drive motor at the plurality of third times is determined according to the first speed and the first torque of the front drive motor at the plurality of third times, and the second power of the rear drive motor at the plurality of third times is determined according to the second speed and the second torque of the rear drive motor at the plurality of third times.

[0075] At step 304, the first torque of the front drive motor at the first time and the second torque of the rear drive motor at the first time are updated at least once according to the first power of the front drive motor at the plurality of third times and the second power of the rear drive motor at the plurality of third times.

[0076] In order to control the front drive motor and the rear drive motor in advance to avoid the problem of overcharging or overdischarging of the battery, the first torque of the front drive motor at the first time and the second torque of the rear drive motor at the first time can be updated at least once according to the first power of the front drive motor at the plurality of third times and the second power of the rear drive motor at the plurality of third times.

[0077] As a possible implementation manner of the embodiment of the present disclosure, the sum of the first power and the second power of the last third time in the plurality of third times is taken as a third power; in the case that the third power is greater than a set first power threshold, the first power threshold is reduced to obtain a second power threshold according to a first power difference between the third power and the first power threshold; the first torque of the front drive motor at the first time and the second torque of the rear drive motor at the first time are reduced at least once according to the second power threshold, so that the fourth power obtained according to the first power determined by the reduced first torque and the second power determined by the reduced second torque is less than the second power threshold, and the power difference between the fourth power and the second power threshold is less than a power difference threshold.

[0078] That is, in the case of battery limit charging or limit discharging, the first power and the second power at the last third time among multiple times are controlled in advance, and the power sum of the first power and the second power at the last third time is taken as a third power. When the third power is greater than a set first power threshold, a power difference between the first power threshold and the third power is determined as a first power difference, and the first power threshold is reduced by the first power difference to obtain a second power threshold. The first torque of the front drive motor at the first time and the second torque of the rear drive motor at the first time are controlled at least once according to the second power threshold, so that the fourth power determined by the first torque and the second torque is less than the second power threshold, and the power difference between the fourth power and the second power threshold is less than the power difference threshold.

[0079] As another possible implementation, in the case that the third power is less than the first power threshold and the second power difference between the third power and the first power threshold is greater than the power difference threshold, the first power threshold is increased according to the second power difference to obtain a third power threshold. The first torque of the front drive motor at the first time and the second torque of the rear drive motor at the first time are controlled at least once to make the fifth power determined by the first torque and the second torque less than the third power threshold, and the power difference between the fifth power and the third power threshold less than the power difference threshold.

[0080] In the embodiment of the present disclosure, when the third power is less than the first power threshold, the power difference between the third power and the first power is determined as a second power difference. In the case that the second power difference is greater than a set power difference threshold, the second power difference is added to the first power threshold to obtain a third power threshold. Then, the first torque of the front drive motor at the first time and the second torque of the rear drive motor at the first time are controlled at least once according to the third power threshold, so that the power sum of the first power determined by the first torque and the second power determined by the second torque is close to the third power threshold, that is, the fifth power is less than the third power threshold, and the power difference between the fifth power and the third power threshold is less than the power difference threshold.

[0081] Step 305, at the first time, the front drive motor is controlled according to the last updated first torque, and the rear drive motor is controlled according to the last updated second torque.

[0082] Further, at the first time, the front drive motor is controlled according to the last updated first torque, and the rear drive motor is controlled according to the last updated second torque.

[0083] It should be noted that the execution process of steps 301 to 303 can be implemented in any of the embodiments of the present disclosure, and the present disclosure does not limit this, and will not be repeated here.

[0084] In summary, by updating the first torque of the front drive motor at the first time and the second torque of the rear drive motor at the first time at least once according to the first power of the front drive motor at the plurality of third times and the second power of the rear drive motor at the plurality of third times; at the first time, the front drive motor is controlled according to the first torque obtained by the last update, and the rear drive motor is controlled according to the second torque obtained by the last update, thereby determining the third power of the sum of the first power and the second power of the last third time in the plurality of third times in advance to control the front drive motor and the rear drive motor, which can avoid overcharging or overdischarging of the battery, eliminate the hidden danger of battery heat, and ensure the safety of the vehicle.

[0085] In any embodiment of the present disclosure, as shown in Figure 4 , the dual-motor power prediction method can also be implemented based on the following steps:

[0086] 1. Obtain the front / rear drive motor requested torque, current time (first time) torque, and current time speed;

[0087] 2. Prediction of dual-motor system torque sequence

[0088] Since the motor controller of the vehicle controls the motor output torque to follow the requested torque, there is a capacity lag and pure lag in the motor response process. Therefore, in the embodiments of the present disclosure, the output torque of the two motors can be predicted according to the torque request signals of the front / rear drive motors, and the dynamic equation describing the prediction process is as follows:

[0089]

[0090] Wherein and are the driving torques of the front drive motor and the rear drive motor at time t i ; and are the requested torques of the front drive motor and the rear drive motor at time t i ; τ Fr and τ Re are the delay times of the front drive motor and the rear drive motor, respectively, and the specific values can be pre-analyzed using test data;

[0091] 3. Build a dual-motor system dynamics model

[0092] Get the current driving torque and initial speed of the front drive motor and rear drive motor of the vehicle, as shown in Figure 5 The rigid body fixed-axis rotation theorem is used for dynamic modeling of the dual motor system, the speed of the front drive motor and the rear drive motor at the next time is predicted based on the dynamic model of the dual motor system, in order to improve the accuracy of the speed prediction, the motor rotational damping (first set damping coefficient and second set damping coefficient) is introduced to correct the original motor torque-speed differential equation in the model, and the final dual motor system dynamic model is as follows, and the matrix form of the differential equation is used to represent:

[0093]

[0094] Where, ω Fr and ω Re are the speeds of the front drive motor and the rear drive motor; T o is the motor shaft end combined torque; J Fr and J Re are the rotational inertia of the front drive motor and the rear drive motor; D Fr is the first set rotational damping coefficient of the front drive motor, D Re is the second set rotational damping coefficient of the rear drive motor. Wherein, the motor shaft end combined torque T o can be obtained by subtracting the load torque (total load torque) from the total drive torque of the dual motor;

[0095] It should be noted that the motor rotational inertia J Fr , J Re and the rotational damping coefficient D Fr , D Re can be calibrated through laboratory bench test, or can be obtained by model parameter identification method using road test data, which is not limited in the present disclosure.

[0096] 4, Predicting the motor load torque sequence

[0097] The motor load torque is predicted according to the total wheel edge resistance, and the specific calculation method can be represented as:

[0098]

[0099] Where T load is the motor load torque; F r is the wheel edge resistance (total wheel edge resistance) during vehicle driving, which is related to vehicle speed; r r is the wheel rolling radius; i0 is the motor speed ratio. In the embodiment of the present disclosure, the driving resistance model based on driving speed is used to predict the wheel edge resistance during vehicle driving, which can be represented as the following formula:

[0100]

[0101] wherein, T load is the load torque of the motor; F r is the wheel side resistance during the vehicle driving process; r r is the wheel rolling radius; i0is the motor speed ratio. In the embodiment of the present disclosure, the wheel side resistance during the vehicle driving process can be predicted using a driving resistance model based on the driving speed, which can be expressed as the following formula:

[0102] F r (t) = k0+ k1v(t) + k2v(t) 2 ;

[0103] wherein, F r is the wheel side resistance during the vehicle driving process; v is the vehicle driving speed; k0, k1and k2are the set driving resistance coefficients, which can be vectors, and k0, k1and k2can be solved in advance according to the test data in combination with the numerical method based on the optimization calculation.

[0104] It should be noted that the vehicle driving speed can be obtained by converting the predicted motor speed, and the specific conversion process can be expressed as the following formula:

[0105]

[0106] wherein, v is the vehicle driving speed, ω mot is the reference motor speed, r r is the wheel rolling radius, and i0is the motor speed ratio. It should be noted that for the dual-motor driving system, the rear driving motor is the main driving motor, and the front driving motor is the auxiliary driving motor, and the slip rate of the front wheel is low. Therefore, the present disclosure selects the speed and speed ratio of the front driving motor to predict the vehicle speed sequence in the future time domain, and finally obtains the motor load torque sequence in the future time domain, and the corresponding prediction model is as follows:

[0107]

[0108] wherein, T load is the motor load torque; ω Fr is the speed prediction value of the front driving motor; r r is the wheel rolling radius; i Fr is the front driving motor speed ratio; k0, k1and k2are the set driving resistance coefficients, respectively.

[0109] 5. Solve the dual-motor system speed prediction model;

[0110] Further, the motor load torque obtained from the driving resistance model in step 4 is substituted into the differential equation set of the dual-motor system dynamics model in step 3, and finally the dual-motor system speed prediction model is obtained, which can be specifically expressed as follows:

[0111]

[0112] in, and They are t i+1 Predicted values ​​of the first speed of the preceding drive motor and the second speed of the following drive motor at given time. Module inputs: and These are the current t i The first torque of the front drive motor and the second torque of the rear drive motor at any given moment; It is t i Predicted value of motor load torque at any given time; and These are the current t i The first speed of the front drive motor and the second speed of the rear drive motor at any given moment. J Fr and J Re These are the moments of inertia of the front drive motor and the rear drive motor, respectively; D Fr It is the first set damping coefficient of the front drive motor, D Re It is the second set damping coefficient of the rear drive motor.

[0113] 6. Prediction of speed sequence in dual-motor systems

[0114] like Figure 6 As shown, Figure 6 The front motor represents the front drive motor, and the rear motor represents the rear drive motor. Based on the drive torque and instantaneous speed of the two motors at the previous moment, the speed of the two motors at the next moment is predicted. The motor speed prediction module is called to solve the dual motor speed sequence in the entire prediction time domain layer by layer. The layer-by-layer solution process can be represented as the following nested model:

[0115]

[0116] Where f(T) Fr ,T Re ,ω Fr ,ω Re The ) represents the dual-motor speed prediction integrated model; N is the width of the prediction time domain. It should be noted that during the layer-by-layer solution, a limit value for the prediction time domain width N will be set to limit the accumulation of prediction errors. This limit value should be reasonably set based on the simulation results of the test data.

[0117] 7. Prediction of power sequence in dual-motor systems;

[0118] Based on the torque and speed prediction sequences in the dual-motor prediction time domain, the power prediction sequence in the dual-motor prediction time domain is obtained using the motor power calculation formula. The corresponding matrix operation process is as follows, where the speed prediction sequences of the front / rear drive motors are represented by a diagonal sparse matrix:

[0119]

[0120] They represent time t1 to t2 respectively. N The predicted value of the first power of the drive motor before the specified time; They represent time t1 to t2 respectively. N The predicted value of the second power of the drive motor after the specified time; They represent time t1 to t2 respectively. N The predicted value of the first speed of the drive motor before the specified time; They represent time t1 to t2 respectively. N The predicted value of the second speed of the drive motor after the specified time; They represent time t1 to t2 respectively. N The predicted value of the first torque of the drive motor before the specified moment; They represent time t1 to t2 respectively. N The predicted value of the second torque of the drive motor after the specified time.

[0121] It should be noted that the calculation method of the above formula is merely exemplary, and those skilled in the art can set other calculation formulas according to actual conditions. For example, those skilled in the art can also add some correction coefficients, weighting coefficients, etc. to the above calculation formula. Such changes in specific calculation methods do not deviate from the basic principles of the present invention and fall within the protection scope of the present invention.

[0122] The double-motor power prediction method of the embodiments of the present disclosure comprises: obtaining a first torque of a front-drive motor at a first time and a plurality of third times after the first time, and a second torque of a rear-drive motor at the first time and the plurality of third times; for any third time, the rotation speed of the front-drive motor and the rear-drive motor at the third time is predicted according to the sum of the first torque and the second torque at the time before the third time, to obtain a first rotation speed of the front-drive motor at the third time and a second rotation speed of the rear-drive motor at the third time; the first power of the front-drive motor at the plurality of third times is determined according to the first rotation speed and the first torque of the front-drive motor at the plurality of third times, and the second power of the rear-drive motor at the plurality of third times is determined according to the second rotation speed and the second torque of the rear-drive motor at the plurality of third times. Thus, when the first time is the current time, the rotation speed of the double motor at a future time after the current time can be predicted based on the obtained real-time torque of the double motor at the current time and the real-time changing target torque at the future time, to obtain the real-time changing target rotation speed corresponding to the future time, and the power at the future time is predicted according to the real-time changing target torque and the target rotation speed at the future time, to obtain the real-time changing target power. The problem of inaccurate power prediction caused by real-time changing external factors and internal factors during vehicle driving can be avoided, and the accuracy of power prediction is improved. Therefore, the double motor can be controlled in advance according to the predicted first power and second power at the future time, to avoid the problems of overcharging or overdischarging of the battery, eliminate the risk of battery thermal runaway, and ensure the safety of the vehicle.

[0123] To implement the above embodiments, the present disclosure provides a double-motor power prediction device.

[0124] Figure 7 A structural schematic diagram of the double-motor power prediction device provided according to an embodiment of the present disclosure.

[0125] As shown in Figure 7 , the double-motor power prediction device 700 comprises an obtaining module 710, a first determining module 720, and a second determining module 730.

[0126] The obtaining module 710 is configured to obtain the first torque of the front drive motor at the first time and at a plurality of third times after the first time, and the second torque of the rear drive motor at the first time and at the plurality of third times. The first determining module 720 is configured to, for any third time, respectively predict the rotation speeds of the front drive motor and the rear drive motor at the third time according to a sum of the first torque and the second torque at a time preceding the third time, to obtain the first rotation speed of the front drive motor at the third time and the second rotation speed of the rear drive motor at the third time. The second determining module 730 is configured to determine the first power of the front drive motor at the plurality of third times according to the first rotation speed and the first torque of the front drive motor at the plurality of third times, and determine the second power of the rear drive motor at the plurality of third times according to the second rotation speed and the second torque of the rear drive motor at the plurality of third times.

[0127] As a possible implementation manner of the embodiment of the present disclosure, the first determining module 720 is configured to determine the load torque of the double motor at the first time and at the plurality of third times; for any third time, take a sum of the first torque and the second torque at a time preceding the third time as a first coefficient; take a difference between the first coefficient at the time preceding the third time and the load torque at the time preceding the third time as a second coefficient; and perform integral calculation based on the second coefficient at the time preceding the third time within a time interval between the time preceding the third time and the third time, to obtain the first rotation speed of the front drive motor at the third time and the second rotation speed of the rear drive motor at the third time.

[0128] As a possible implementation manner of the embodiment of the present disclosure, the first determining module 720 is further configured to obtain a first set damping coefficient corresponding to the front drive motor and a second set damping coefficient corresponding to the rear drive motor; take a product of the first set damping coefficient and the first rotation speed of the front drive motor at a time preceding the third time as a third coefficient, and take a product of the second set damping coefficient and the second rotation speed of the rear drive motor at the time preceding the third time as a fourth coefficient; perform integral calculation according to a difference between the second coefficient and the third coefficient at the time preceding the third time within a time interval between the time preceding the third time and the third time, to obtain the first rotation speed of the front drive motor at the third time; and perform integral calculation according to a difference between the second coefficient and the fourth coefficient at the time preceding the third time within the time interval between the time preceding the third time and the third time, to obtain the second rotation speed of the rear drive motor at the third time.

[0129] As a possible implementation manner of the embodiment of the present disclosure, integral calculation is performed based on the second coefficient at the time preceding the third time within a time interval between the time preceding the third time and the third time, to generate the first rotation speed of the front drive motor at the third time and the second rotation speed of the rear drive motor at the third time, which is expressed by the following formula:

[0130]

[0131] wherein, t i+1 is the third time, t i is the time before t i+1 , is the first rotation speed of the front drive motor at t i+1 , is the second rotation speed of the rear drive motor at t i+1 , is the first torque of the front drive motor at t i , is the second torque of the rear drive motor at t i , is the load torque of the dual-motor at t i , is the first rotation speed of the front drive motor at t i , is the second rotation speed of the rear drive motor. J Fr is the set rotation inertia of the front drive motor, J Re is the set rotation inertia of the rear drive motor, D Fr is the first set damping coefficient, D Re is the second set damping coefficient, is the second coefficient, is the third coefficient, is the fourth coefficient.

[0132] As a possible implementation manner of the embodiment of the present disclosure, the first determination module 720 is further configured to acquire a first set slip rate of the front drive motor and a second set slip rate of the rear drive motor; when the first set slip rate is less than the second set slip rate, predict the wheel side resistance of the target vehicle based on the set plurality of driving resistance coefficients of the target vehicle and the driving speed at the first time and the plurality of third times, to obtain the wheel side resistance of the target vehicle at the first time and the plurality of third times; wherein the driving speed at the first time is determined according to the first rotation speed at the first time, and the driving speed at any third time is determined according to the first rotation speed at any third time; take the ratio between the product of the wheel side resistance at the first time and the wheel rolling radius of the target vehicle and the set front drive motor speed ratio as the load torque at the first time, and take the ratio between the product of the wheel side resistance at each third time and the wheel rolling radius of the target vehicle and the set front drive motor speed ratio as the load torque at each third time.

[0133] As a possible implementation manner of the embodiment of the present disclosure, the dual-motor power prediction device 700 further comprises an updating module and a control module.

[0134] The updating module is configured to update the first torque of the front drive motor at the first time and the second torque of the rear drive motor at the first time at least once according to the first power of the front drive motor at the plurality of third times and the second power of the rear drive motor at the plurality of third times; and the control module is configured to control the front drive motor according to the first torque obtained through the last update at the first time, and control the rear drive motor according to the second torque obtained through the last update at the first time.

[0135] As a possible implementation manner of the embodiment of the present disclosure, the updating module is configured to take a sum of the first power and the second power at a last third time in the plurality of third times as a third power; in a case where the third power is greater than a set first power threshold, reduce the first power threshold to obtain a second power threshold according to a first power difference between the third power and the first power threshold; and reduce the first torque of the front drive motor at the first time and the second torque of the rear drive motor at the first time at least once according to the second power threshold, so that a fourth power obtained by the first power determined according to the reduced first torque and the second power determined according to the reduced second torque is less than the second power threshold, and a power difference between the fourth power and the second power threshold is less than a power difference threshold.

[0136] As a possible implementation manner of the embodiment of the present disclosure, the updating module is further configured to, in a case where the third power is less than the first power threshold and a second power difference between the third power and the first power threshold is greater than a power difference threshold, increase the first power threshold to obtain a third power threshold according to the second power difference; and increase the first torque of the front drive motor at the first time and the second torque of the rear drive motor at the first time at least once, so that a fifth power obtained by the first power determined according to the increased first torque and the second power determined according to the increased second torque is less than the third power threshold, and a power difference between the fifth power and the third power threshold is less than the power difference threshold.

[0137] The double-motor power prediction device provided by the embodiment of the present disclosure obtains the first torque of the front-drive motor at the first time and a plurality of third times after the first time, and the second torque of the rear-drive motor at the first time and the plurality of third times; for any third time, the first speed of the front-drive motor at the third time and the second speed of the rear-drive motor at the third time are determined according to the sum of the first torque and the second torque at the time before the third time, respectively; the first power of the front-drive motor at the plurality of third times is determined according to the first speed and the first torque of the front-drive motor at the plurality of third times, and the second power of the rear-drive motor at the plurality of third times is determined according to the second speed and the second torque of the rear-drive motor at the plurality of third times. Thus, when the first time is the current time, the speed at the future time after the current time of the double motor can be predicted based on the obtained real-time torque at the current time and the real-time changing target torque at the future time, the real-time changing target speed corresponding to the future time is obtained, and the power at the future time is predicted according to the real-time changing target torque and the target speed at the future time, the real-time changing target power is obtained, which can avoid the problem of inaccurate power prediction caused by real-time changing external factors and internal factors in the related art during vehicle driving, improve the accuracy of power prediction, and thus, the double motor can be controlled in advance according to the first power and the second power at the future time, which can avoid the problem of overcharging or overdischarging of the battery, eliminate the risk of battery thermal runaway, and ensure the safety of the vehicle.

[0138] It should be noted that the foregoing explanation of the method embodiment also applies to the device of this embodiment, which will not be described here.

[0139] To implement the above-mentioned embodiments, the present disclosure further provides an electronic device, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the double-motor power prediction method of the above-mentioned embodiments when executing the program.

[0140] To implement the above-mentioned embodiments, the present disclosure further provides a vehicle comprising the electronic device of the above-mentioned embodiments.

[0141] To implement the above-mentioned embodiments, the present disclosure further provides a computer-readable storage medium having a computer program stored thereon, wherein the program is executed by a processor to implement the double-motor power prediction method of the above-mentioned embodiments.

[0142] To implement the above-mentioned embodiments, the present disclosure further provides a computer program product having a computer program stored thereon, wherein the computer program is executed by a processor to implement the double-motor power prediction method of the above-mentioned embodiments.

[0143] Figure 8 A structural block diagram of an electronic device according to an embodiment of the present disclosure is shown.Figure 8 The electronic device shown is merely an example and should not impose any limitation on the functions and usage range of the embodiments of the present disclosure.

[0144] As Figure 8 shown, the electronic device 800 includes a processor 801 that can perform various appropriate actions and processes according to programs stored in a read only memory (ROM) 802 or loaded into a random access memory (RAM) 803 from a memory 806. Various programs and data required for the operation of the electronic device 800 are also stored in the RAM 803. The processor 801, the ROM 802, and the RAM 803 are connected to each other through a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0145] The following components are connected to the I / O interface 805: the memory 806 including a hard disk or the like; and a communication section 807 including a network interface card such as a LAN (Local Area Network) card, a modem, or the like, which performs communication processing via a network such as the Internet; and a drive 808 is also connected to the I / O interface 805 as necessary.

[0146] In particular, according to the embodiments of the present disclosure, the processes described above with reference to the flowcharts can be implemented as a computer software program. For example, the embodiments of the present disclosure include a computer program carrying on a computer readable medium, which contains program codes for executing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network by the communication section 807. When the computer program is executed by the processor 801, the above-described functions defined in the methods of the present disclosure are performed.

[0147] In the exemplary embodiments, a storage medium including instructions, for example, the memory 806 including instructions, is also provided, which can be executed by the processor 801 of the electronic device 800 to complete the above-described methods. Alternatively, the storage medium can be a non-transitory computer readable storage medium, for example, the non-transitory computer readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device, and the like.

[0148] In the description of the disclosure, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the disclosure. In the description of the disclosure, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, a person skilled in the art can combine and combine different embodiments or examples described in the specification and the features of different embodiments or examples without contradiction.

[0149] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the disclosure, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly specified.

[0150] Any process or method descriptions in flow charts or otherwise described herein represent embodiments that can be understood as a module, segment, or portion of code that includes one or more executable instructions for implementing the specified logical function or process. The scope of the preferred embodiments of the disclosure includes additional implementation in which the functions described in the illustrated or discussed order are performed in a different order, including substantially simultaneously, or in reverse order, according to the functions involved, which should be understood by those skilled in the art to which the embodiments of the disclosure belong.

[0151] The logic and / or steps represented in flow diagrams or otherwise described herein, for example, can be considered as a sequence of executable instructions, and can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. The computer-readable medium can be a product of the manufacturing and / or processing. The computer-readable medium can include, but is not limited to, the following: an electronic connection (an electronic device having one or more wires), a portable computer diskette (a magnetic device), a RAM (random access memory), a ROM (read-only memory), an EPROM (erasable programmable ROM) or a Flash memory, an optical fiber, and a portable CD ROM. In addition, the computer-readable medium can even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, for example via the optical scanner of the paper or other medium, then compiled, interpreted, or otherwise processed in a suitable manner, if necessary, and stored in a computer memory.

[0152] It should be understood that portions of the present disclosure can be implemented in hardware, software, firmware, or combinations thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As such, if implemented in hardware, and in another embodiment, any of the following technologies, known in the art, or their combinations, can be used: discrete logic circuitry having logic gates for implementing logic functions on data signals, application specific integrated circuits having appropriate combinational logic gates, programmable gate arrays (PGA), field programmable gate arrays (FPGA), and the like.

[0153] Those skilled in the art can understand that all or part of the steps carried out by the above-mentioned embodiment methods can be completed by programs instructing related hardware, and the programs can be stored in a computer-readable storage medium. When the programs are executed, one or a combination of the steps of the method embodiments is included.

[0154] In addition, each functional unit in each embodiment of the present disclosure can be integrated in one processing module, or each unit can exist physically separately, or two or more units can be integrated in one module. The integrated module can be realized in the form of hardware or in the form of a software functional module. When the integrated module is realized in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer readable storage medium.

[0155] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present disclosure have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present disclosure.

Claims

1. A dual-motor power prediction method, characterized by, The double motor includes a front drive motor and a rear drive motor of a target vehicle, and the method includes: obtaining a first torque of the front drive motor at a first time and a plurality of third times after the first time, and a second torque of the rear drive motor at the first time and the plurality of third times; determining the load torque of the double motor at the first time and the plurality of third times; for any third time, the sum of the first torque and the second torque of the previous time of the third time is taken as a first coefficient; the difference between the first coefficient of the previous time of the third time and the load torque of the previous time of the third time is taken as a second coefficient; in the time interval between the previous time of the third time and the third time, the second coefficient of the previous time of the third time is integrated to obtain the first speed of the front drive motor at the third time and the second speed of the rear drive motor at the third time; determine the first power of the front drive motor at the plurality of third times according to the first speed and the first torque of the front drive motor at the plurality of third times, and determine the second power of the rear drive motor at the plurality of third times according to the second speed and the second torque of the rear drive motor at the plurality of third times.

2. The method of claim 1, wherein, The integral calculation in the time interval between the previous time of the third time and the third time based on the second coefficient of the previous time of the third time to generate the first speed of the front drive motor at the third time and the second speed of the rear drive motor at the third time includes: obtaining a first set damping coefficient corresponding to the front drive motor and a second set damping coefficient corresponding to the rear drive motor; the product of the first set damping coefficient and the first speed of the front drive motor at the previous time of the third time is taken as a third coefficient, and the product of the second set damping coefficient and the second speed of the rear drive motor at the previous time of the third time is taken as a fourth coefficient; in the time interval between the previous time of the third time and the third time, the difference between the second coefficient and the third coefficient of the previous time of the third time is integrated to obtain the first speed of the front drive motor at the third time; in the time interval between the previous time of the third time and the third time, the difference between the second coefficient and the fourth coefficient of the previous time of the third time is integrated to obtain the second speed of the rear drive motor at the third time.

3. The method of claim 2, wherein, The integral calculation in the time interval between the previous time of the third time and the third time based on the second coefficient of the previous time of the third time to generate the first speed of the front drive motor at the third time and the second speed of the rear drive motor at the third time is expressed by the following formula: ； wherein, is the third time, is the previous time of is the first rotational speed of the front drive motor at the time, is the second rotational speed of the rear drive motor at the time, is the first torque of the front drive motor at the time, is the second torque of the rear drive motor at the time, is the load torque of the dual motor at the time, is the first rotational speed of the front drive motor at the time, is the second rotational speed of the rear drive motor, is the set rotational inertia of the front drive motor, is the set rotational inertia of the rear drive motor, is the first set damping coefficient, is the second set damping coefficient, is the second coefficient, is the third coefficient, is the fourth coefficient.

4. The method of claim 1, wherein, The determination of the load torque of the double motor at the first time and the plurality of third times includes: acquire a first set slip ratio of the front drive motor and a second set slip ratio of the rear drive motor; when the first set slip ratio is less than the second set slip ratio, predict the wheel side resistance of the target vehicle based on the set plurality of driving resistance coefficients of the target vehicle and the driving speed at the first time and the plurality of third times, to obtain the wheel side resistance of the target vehicle at the first time and the plurality of third times; wherein the driving speed at the first time is determined according to the first speed at the first time, and the driving speed at any third time is determined according to the first speed at the third time; the ratio of the product of the wheel side resistance at the first time and the wheel rolling radius of the target vehicle to the set front drive motor speed ratio is taken as the load torque at the first time, and the ratio of the product of the wheel side resistance at each third time and the wheel rolling radius of the target vehicle to the set front drive motor speed ratio is taken as the load torque at each third time.

5. The method of claim 1, wherein, After determining the first power of the front drive motor at the plurality of third times according to the first speed and the first torque of the front drive motor at the plurality of third times, and determining the second power of the rear drive motor at the plurality of third times according to the second speed and the second torque of the rear drive motor at the plurality of third times, the method further comprises: updating the first torque of the front drive motor at the first time and the second torque of the rear drive motor at the first time at least once according to the first power of the front drive motor at the plurality of third times and the second power of the rear drive motor at the plurality of third times; controlling the front drive motor according to the first torque obtained after the last update at the first time, and controlling the rear drive motor according to the second torque obtained after the last update at the first time.

6. The method of claim 5, wherein, The method further comprises: updating the first torque of the front drive motor at the first time and the second torque of the rear drive motor at the first time at least once according to the first power of the front drive motor at the plurality of third times and the second power of the rear drive motor at the plurality of third times, comprises: taking the sum of the first power and the second power at the last third time of the plurality of third times as a third power; in the case that the third power is greater than a set first power threshold, reducing the first power threshold according to a first power difference between the third power and the first power threshold to obtain a second power threshold; 7. The method of claim 6, wherein, reducing the first torque of the front drive motor at the first time and the second torque of the rear drive motor at the first time at least once according to the second power threshold, so that the fourth power obtained by the first power determined according to the reduced first torque and the second power determined according to the reduced second torque is less than the second power threshold, and the power difference between the fourth power and the second power threshold is less than a power difference threshold. The method further comprises: in a case that the third power is less than the first power threshold and a second power difference between the third power and the first power threshold is greater than a power difference threshold, increasing the first power threshold according to the second power difference to obtain a third power threshold; at least once increasing a first torque of the front drive motor at the first time and a second torque of the rear drive motor at the first time, so that a fifth power determined by the first torque after the increasing and a second power determined by the second torque after the increasing is less than the third power threshold and a power difference between the fifth power and the third power threshold is less than the power difference threshold.

8. The method according to any one of claims 1 to 7, characterized in that, the obtaining the first torque of the front drive motor at the first time and at a plurality of third times after the first time and the second torque of the rear drive motor at the first time and at the plurality of third times comprises: obtaining a plurality of second historical torque requests of the front drive motor of the target vehicle at a plurality of second times before the first time; predicting the torque of the front drive motor according to the plurality of first historical requests to obtain the first torque of the front drive motor at the first time and at a plurality of third times after the first time; obtaining a plurality of second historical torque requests of the front drive motor of the target vehicle at a plurality of second times before the first time; predicting the torque of the rear drive motor according to the plurality of second historical requests to obtain the second torque of the rear drive motor at the first time and at a plurality of third times after the first time.

9. A dual-motor power prediction device, the dual-motor including a front drive motor and a rear drive motor of a target vehicle, characterized by, comprises: an obtaining module, configured to obtain the first torque of the front drive motor at the first time and at a plurality of third times after the first time and the second torque of the rear drive motor at the first time and at the plurality of third times; a first determining module, configured to, for any third time, predict the rotation speed of the front drive motor and the rear drive motor at the third time according to a sum of the first torque and the second torque at a time before the third time, to obtain a first rotation speed of the front drive motor at the third time and a second rotation speed of the rear drive motor at the third time; a second determining module, configured to determine the first power of the front drive motor at the plurality of third times according to the first rotation speed and the first torque of the front drive motor at the plurality of third times, and determine the second power of the rear drive motor at the plurality of third times according to the second rotation speed and the second torque of the rear drive motor at the plurality of third times; the first determining module is specifically configured to: determine the load torque of the double motor at the first time and at the plurality of third times; for any third time, take a sum of the first torque and the second torque at a time before the third time as a first coefficient; take a difference between the first coefficient at the time before the third time and the load torque at the time before the third time as a second coefficient; In a time interval between the time moment preceding the third time moment and the third time moment, the first rotational speed of the front drive motor at the third time moment and the second rotational speed of the rear drive motor at the third time moment are obtained by integral calculation based on the second coefficient of the time moment preceding the third time moment, respectively.

10. An electronic device, comprising: Comprising: at least one processor; and a memory connected with the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the dual-motor power prediction method of any one of claims 1-8.

11. A vehicle characterized by comprising: Comprising: the electronic device of claim 10. 12.A computer readable storage medium, when instructions in the computer readable storage medium are executed by a processor of an electronic device, enabling the electronic device to perform the dual-motor power prediction method of any one of claims 1-8.

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