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: based on a first torque and a third torque, a first target rotating speed of a front drive motor at a first third time in a plurality of third times is predicted, and based on a plurality of second torques and a plurality of fourth torques, a first target rotating speed of the front drive motor at a non-first third time in the plurality of third times is predicted; a plurality of first target rotating speeds are converted to obtain a second target rotating speed of a rear drive motor at the plurality of third times; a first target power of the front drive motor at the plurality of third times is determined according to the plurality of first target rotating speeds and the second torque of the front drive motor, and a second target power of the rear drive motor at the plurality of third times is determined according to the plurality of second target rotating speeds and the fourth torque of the rear drive motor. 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 thermal runaway of the battery can be eliminated, and the safety of the vehicle can be ensured.

[0003] In the related art, 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 and device, electronic equipment and vehicle, which can realize, when the first time is the current time, predicting the second torque and the first target speed of the front drive motor at a plurality of third times after the first time based on the first torque of the front drive motor and the third torque of the rear drive motor at the current time, and predicting the first target power of the front drive motor at the plurality of third times according to the second torque and the first target speed at the plurality of third times, and converting the first target speed of the front drive motor to obtain the second target speed of the rear drive motor at the plurality of third times, and predicting the second target power of the rear drive motor at the plurality of third times according to the fourth torque and the second target speed at the plurality of third times. Thus, when the first time is the current time, the speed of the front drive motor at a future time after the current time can be predicted based on the real-time torque of the front drive motor at the current time and the real-time changing target torque at the future time, to obtain the real-time changing target speed of the front drive motor at the future time, the real-time changing target speed of the rear drive motor at the future time is obtained by converting the real-time changing target speed of the front drive motor at the future time, and the power at the future time is predicted according to the real-time changing target torque and target speed of the front drive motor and the rear drive motor at the future time, respectively, to obtain the real-time changing target power, thereby avoiding the problem of inaccurate power prediction in related technologies caused by real-time changing external factors and internal factors during vehicle driving, and improving the accuracy of power prediction.

[0006] The first aspect embodiment of the present disclosure provides a dual-motor power prediction method, which comprises: obtaining the first torque of the front drive motor at the first time and the second torque of the front drive motor at a plurality of third times after the first time, and the third torque of the rear drive motor at the first time and the fourth torque of the rear drive motor at a plurality of third times after the first time; predicting the speed of the front drive motor based on the first torque and the third torque to obtain the first target speed of the front drive motor at the first third time of the plurality of third times, and predicting the speed of the front drive motor based on the plurality of second torques and the plurality of fourth torques to obtain the first target speed of the front drive motor at the non-first third time of the plurality of third times; converting the first target speed of the front drive motor at the plurality of third times by using a preset speed conversion coefficient to obtain the second target speed of the rear drive motor at the plurality of third times; determining the first target power of the front drive motor at the plurality of third times according to the first target speed and the second torque of the front drive motor at the plurality of third times, and determining the second target power of the rear drive motor at the plurality of third times according to the second target speed and the fourth torque of the rear drive motor at the plurality of third times.

[0007] The second aspect of the present disclosure provides a dual-motor power prediction device, comprising: an acquisition module configured to acquire a first torque of the front drive motor at a first time and a second torque of the front drive motor at a plurality of third times after the first time, and a third torque of the rear drive motor at the first time and a fourth torque of the rear drive motor at the plurality of third times after the first time; a prediction module configured to predict the rotation speed of the front drive motor based on the first torque and the third torque to obtain a first target rotation speed of the front drive motor at a first third time of the plurality of third times, and predict the rotation speed of the front drive motor based on the plurality of second torques and the plurality of fourth torques to obtain a first target rotation speed of the front drive motor at a non-first third time of the plurality of third times; a conversion module configured to convert the first target rotation speed of the front drive motor at the plurality of third times by using a preset rotation speed conversion coefficient to obtain a second target rotation speed of the rear drive motor at the plurality of third times; and a determination module configured to determine a first target power of the front drive motor at the plurality of third times according to the first target rotation speed of the front drive motor at the plurality of third times and the second torque, and determine a second target power of the rear drive motor at the plurality of third times according to the second target rotation speed of the rear drive motor at the plurality of third times and the fourth torque.

[0008] The third aspect of the present disclosure provides an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; 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 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, and the computer program is executed by a processor to implement the dual-motor power prediction method of the first aspect of the present disclosure.

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

[0012] The technical solution of the present disclosure comprises the following steps: acquiring a first torque of the front drive motor at a first time and a second torque of the front drive motor at a plurality of third times after the first time, and acquiring a third torque of the rear drive motor at the first time and a fourth torque of the rear drive motor at the plurality of third times after the first time; predicting the rotation speed of the front drive motor based on the first torque and the third torque to obtain a first target rotation speed of the front drive motor at a first third time in the plurality of third times, and predicting the rotation speed of the front drive motor based on the plurality of second torques and the plurality of fourth torques to obtain a first target rotation speed of the front drive motor at a non-first third time in the plurality of third times; converting the first target rotation speed of the front drive motor at the plurality of third times by using a preset rotation speed conversion coefficient to obtain a second target rotation speed of the rear drive motor at the plurality of third times; determining a first target power of the front drive motor at the plurality of third times according to the first target rotation speed of the front drive motor at the plurality of third times and the second torque, and determining a second target power of the rear drive motor at the plurality of third times according to the second target rotation speed of the rear drive motor at the plurality of third times and the fourth torque. Thus, when the first time is the current time, the rotation speed of the front drive motor at a future time after the current time can be predicted based on the acquired real-time torque of the front drive motor at the current time and the real-time changing target torque at the future time, the real-time changing target rotation speed of the front drive motor at the future time is obtained, the real-time changing target rotation speed of the rear drive motor at the future time is obtained by converting the real-time changing target rotation speed of the front drive motor at the future time, the power at the future time is predicted according to the real-time changing target torque and the target rotation speed of the front drive motor and the rear drive motor at the future time, respectively, and 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, and improve the accuracy of power prediction.

[0013] Additional aspects and advantages of the present disclosure will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

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

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

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

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

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

[0019] Figure 5 A flowchart of a double-motor power prediction method according to an embodiment of the present disclosure;

[0020] Figure 6 A schematic diagram of predicting motor output torque using motor delay characteristics according to an embodiment of the present disclosure;

[0021] Figure 7 A structural schematic diagram of a double-motor system speed prediction model according to an embodiment of the present disclosure;

[0022] Figure 8 A schematic diagram of predicting the speed of two motors at the next moment according to the driving torque and instantaneous speed of the double-motor at the last moment according to an embodiment of the present disclosure;

[0023] Figure 9 A structural schematic diagram of a double-motor power prediction device according to an embodiment of the present disclosure;

[0024] Figure 10 A structural block diagram of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0025] 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.

[0026] In the related art, whether using a traditional data fitting method, or a machine learning or even a deep learning method, the prediction rule is extracted from past historical data to fit a prediction model. However, for a vehicle in the process of driving, there are two major 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 into account other vehicles, and cannot be applied to all vehicles in mass production, and the model has poor universality.

[0027] Therefore, the disclosure provides a dual-motor power prediction method, device, electronic equipment and vehicle to solve the above problems.

[0028] The dual-motor power prediction method, device, electronic equipment and vehicle of the embodiments of the disclosure are described below with reference to the drawings.

[0029] Figure 1 A flowchart of the dual-motor power prediction method according to one embodiment of the disclosure is shown. It should be noted that the dual-motor power prediction method of the embodiments of the disclosure can be applied to the dual-motor power prediction device of the embodiments of the disclosure, which can be configured on an electronic equipment, such as a car machine system, a vehicle-mounted device, etc.

[0030] As shown in the figure, the dual-motor power prediction method can include the following steps: Figure 1

[0031] Step 101, obtaining a first torque of a front drive motor at a first time and a second torque of the front drive motor at a plurality of third times after the first time, and a third torque of a rear drive motor at the first time and a fourth torque of the rear drive motor at the plurality of third times after the first time.

[0032] In the embodiments of the disclosure, the dual-motor includes a front drive motor and a rear drive motor of a target vehicle. Since there is a time delay between the output torque of the front drive motor and the torque request, the historical torque request of the front drive motor at the second time within a set time period before the first time can be obtained from the running log of the target vehicle or a storage device, and the torque of the front drive motor is predicted according to the 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 first time and the second torque of the front drive motor at the plurality of third times after the first time. Similarly, since there is a time delay between the output torque of the rear drive motor and the torque request, the historical torque request of the rear drive motor at the second time within a set time period before the first time can be obtained from the running log of the target vehicle or a storage device, and the torque of the rear drive motor is predicted according to the historical torque request of the rear drive motor at the plurality of second times before the first time, to obtain the third torque of the rear drive motor at the first time and the fourth torque of the rear drive motor at the plurality of third times after the first time. It should be noted that the first time can be the current time.

[0033] Step 102, predicting the speed of the front drive motor based on the first torque and the third torque to obtain a first target speed of the front drive motor at a first third time in the plurality of third times, and predicting the speed of the front drive motor based on the plurality of second torques and the plurality of fourth torques to obtain a first target speed of the front drive motor at a non-first third time in the plurality of third times.

[0034] ​In the embodiment of the present disclosure, the rotational speed of the front drive motor at a first third time among the plurality of third times can be predicted according to the first torque and the third torque, to obtain a first target rotational speed of the front drive motor at the first third time, and the first target rotational speed of the front drive motor at a non-first third time among the plurality of third times can be predicted based on the first target rotational speed of a previous third time of the non-first third time, the second torque and the fourth torque.

[0035] In step 103, the first target rotational speed of the front drive motor at the plurality of third times is converted by using a preset rotational speed conversion coefficient, to obtain the second target rotational speed of the rear drive motor at the plurality of third times.

[0036] In order to make the rotational speeds of the front and rear wheels of the vehicle consistent, after the first target rotational speed of the front drive motor at the plurality of third times is determined, the first target rotational speed of the front drive motor at the plurality of third times can be converted based on the preset rotational speed conversion coefficient, the front drive motor speed ratio and the rear drive motor speed ratio, to obtain the second target rotational speed of the rear drive motor at the plurality of third times.

[0037] In step 104, the first target power of the front drive motor at the plurality of third times is determined according to the first target rotational speed of the front drive motor at the plurality of third times and the second torque, and the second target power of the rear drive motor at the plurality of third times is determined according to the second target rotational speed of the rear drive motor at the plurality of third times and the fourth torque.

[0038] In the embodiment of the present disclosure, for any third time, the second torque and the first target rotational speed of the third time are obtained, the first target power of the front drive motor at the third time is determined according to the product of the second torque and the first target rotational speed of the third time, the first target power of the front drive motor at the plurality of third times is determined according to the first target power of the front drive motor at the third time, and similarly, the fourth torque and the second target rotational speed of the third time are obtained, the second target power of the rear drive motor at the third time is determined according to the product of the fourth torque and the second target rotational speed of the third time, and the second target power of the rear drive motor at the plurality of third times is determined according to the second target power of the rear drive motor at the third time.

[0039] In summary, by acquiring the first torque of the front drive motor at a first moment and the second torque at multiple third moments after the first moment, and the third torque of the rear drive motor at the first moment and the fourth torque at multiple third moments after the first moment; based on the first torque and the third torque, the rotational speed of the front drive motor is predicted to obtain the first target rotational speed of the front drive motor at the first of the multiple third moments; and based on the multiple second torques and multiple fourth torques, the rotational speed of the front drive motor is predicted to obtain the first target rotational speed of the front drive motor at non-first third moments among the multiple third moments; using a preset rotational speed conversion coefficient, the first target rotational speed of the front drive motor at the multiple third moments is converted to obtain the second target rotational speed of the rear drive motor at the multiple third moments; based on the first target rotational speed and the second torque of the front drive motor at the multiple third moments, the first target power of the front drive motor at the multiple third moments is determined; and based on the second target rotational speed and the fourth torque of the rear drive motor at the multiple third moments, the second target power of the rear drive motor at the multiple third moments is determined. Therefore, when the first moment is the current moment, the rotational speed of the front drive motor at future moments can be predicted based on the real-time torque of the front drive motor at the current moment and the real-time changing target torque at future moments. This yields the real-time changing target rotational speed of the front drive motor at future moments. By converting the real-time changing target rotational speed of the front drive motor at future moments, the real-time changing target rotational speed of the rear drive motor at future moments can be obtained. Based on the real-time changing target torque and target rotational speed of the front drive motor and the rear drive motor at future moments, respectively, power prediction is performed at future moments to obtain the real-time changing target power. This avoids the problem of inaccurate power prediction in related technologies caused by real-time changing external and internal factors during vehicle operation, thus improving the accuracy of power prediction.

[0040] To clearly illustrate how the above embodiments predict the speed of the front drive motor based on the first torque and the third torque to obtain the first target speed of the front drive motor at the first third moment among multiple third moments, and predict the speed of the front drive motor based on multiple second torques and multiple fourth torques to obtain the first target speed of the front drive motor at a non-first third moment among multiple third moments, this disclosure proposes another dual-motor power prediction method.

[0041] Figure 2 This is a flowchart illustrating a dual-motor power prediction method provided according to an embodiment of the present disclosure.

[0042] like Figure 2 As shown, the dual-motor power prediction method may include the following steps:

[0043] In step 201, a first torque of the front drive motor at a first time and second torques of the front drive motor at a plurality of third times after the first time, and a third torque of the rear drive motor at the first time and fourth torques of the rear drive motor at the plurality of third times after the first time are obtained.

[0044] In step 202, a rotation speed prediction model is obtained.

[0045] The rotation speed prediction model is used to indicate a mapping relationship between a resultant torque and a rotation speed of the front drive motor at any time and a rotation speed of a next adjacent time at any time, and the resultant torque is used to represent a difference between a sum of the torque of the front drive motor and the torque of the rear drive motor at any time and a load torque, wherein the resultant torque and the rotation speed of the front drive motor at any time and the rotation speed of the next adjacent time at any time are in a positive correlation.

[0046] As a possible implementation manner of the embodiment of the present disclosure, an electromechanical model can be established based on a rigid body fixed-axis rotation theorem to obtain a motor resultant torque-rotation speed differential equation; meanwhile, a motor rotation damping term is introduced to modify the original motor torque-rotation speed differential equation, and after necessary model parameters are defined, an equivalent rotation speed prediction model of the motor is finally obtained. For a dual-motor drive system, the rear drive motor is a main drive motor, and the front motor is an auxiliary drive motor, and the slip rate of the front wheel is low. Therefore, in the embodiment of the present disclosure, the rotation speed prediction model of the front drive motor can be obtained by substituting the data of the front drive motor into the equivalent rotation speed prediction model. The rotation speed prediction model is used to indicate a mapping relationship between a resultant torque and a rotation speed of the front drive motor at any time and a rotation speed of a next adjacent time at any time.

[0047] In step 203, the rotation speed of the front drive motor is predicted based on the first torque and the third torque by using the rotation speed prediction model to obtain a first target rotation speed of the front drive motor at a first third time in the plurality of third times, and the rotation speed of the front drive motor is predicted based on the plurality of second torques and the plurality of fourth torques to obtain a first target rotation speed of the front drive motor at a non-first third time in the plurality of third times.

[0048] In the embodiment of the present disclosure, the first resultant torque at the first time can be determined according to the first torque and the third torque, the rotation speed prediction model is used, and the first target rotation speed of the front drive motor at the first third time in the plurality of third times is predicted according to the first resultant torque and the first rotation speed of the front drive motor at the first time. For the non-first third time in the plurality of third times, the second resultant torque is determined according to the second torque and the fourth torque at the previous third time of the non-first third time, the rotation speed prediction model is used, and the first target rotation speed of the front drive motor at the non-first third time is predicted according to the first target rotation speed corresponding to the previous third time of the non-first third time and the second resultant torque.

[0049] Step 204: Using a preset speed conversion coefficient, the first target speed of the front drive motor at multiple third moments is converted to obtain the second target speed of the rear drive motor at multiple third moments.

[0050] Step 205: Determine the first target power of the front drive motor at multiple third moments based on the first target speed and the second torque of the front drive motor at multiple third moments, and determine the second target power of the rear drive motor at multiple third moments based on the second target speed and the fourth torque of the rear drive motor at multiple third moments.

[0051] It should be noted that the execution process of steps 201 and 204 to 205 can be implemented in any of the embodiments of this disclosure. This disclosure does not limit this and will not elaborate further.

[0052] In summary, a speed prediction model is obtained, which indicates the mapping relationship between the resultant torque and speed of the front drive motor at any given moment and the speed at the next adjacent moment. Using this model, the speed of the front drive motor is predicted based on the first and third torques to obtain the first target speed of the front drive motor at the first of multiple third moments. Furthermore, based on multiple second and fourth torques, the speed of the front drive motor is predicted to obtain the first target speed at non-first third moments among multiple third moments. Therefore, by using a speed prediction model that characterizes the mapping relationship between the resultant torque and speed of the front drive motor at any given moment and the speed at the next adjacent moment, the first target speed of the front drive motor at multiple third moments is predicted, improving the accuracy and applicability of the speed prediction for the front drive motor.

[0053] To clearly illustrate how the above embodiments employ a speed prediction model to predict the speed of the front drive motor based on the first torque and the third torque, thereby obtaining the first target speed of the front drive motor at the first third moment among multiple third moments, and to predict the speed of the front drive motor based on multiple second torques and multiple fourth torques, thereby obtaining the first target speed of the front drive motor at a non-first third moment among multiple third moments, this disclosure proposes another dual-motor power prediction method.

[0054] Figure 3 This is a flowchart illustrating a dual-motor power prediction method provided according to an embodiment of the present disclosure.

[0055] like Figure 3 As shown, the dual-motor power prediction method may include the following steps:

[0056] In step 301, the first torque of the front drive motor at the first time and the second torque of the front drive motor at the plurality of third times after the first time, and the third torque of the rear drive motor at the first time and the fourth torque of the rear drive motor at the plurality of third times after the first time are obtained.

[0057] In step 302, the rotating speed prediction model is obtained.

[0058] The rotating speed prediction model is used to indicate the mapping relationship between the resultant torque of the front drive motor at any time and the rotating speed at any time and the rotating speed at the next adjacent time of any time.

[0059] In step 303, the first load torque of the double motor at the first time and the second load torque of the double motor at the plurality of third times are determined.

[0060] As an example, 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 rotating speed at the first time, and the driving speed at any third time is determined according to the first target rotating speed at any third time; the first load torque and the plurality of second load torques are determined according to the wheel side resistance at the first time and the plurality of third times, the wheel rolling radius of the target vehicle, and the set front drive motor speed ratio.

[0061] It should be understood that the load torque of the motor can be predicted according to the wheel side resistance, which can be expressed as the following formula:

[0062]

[0063] Wherein, T load is the load torque of the motor; F r is the wheel side resistance in the driving process of the vehicle; r r is the wheel rolling radius; i0 is the motor speed ratio. In the embodiment of the present disclosure, the wheel side resistance in the driving process of the vehicle can be predicted using the driving resistance model based on the driving speed, which can be expressed as the following formula:

[0064] F r (t)=k0+k1v(t)+k2v(t) 2 ;

[0065] Wherein, F ris the wheel side resistance during the vehicle driving process; v is the vehicle driving speed; k0, k1 and k2 are the set driving resistance coefficients, and k0, k1 and k2 can be vectors, which can be solved in advance according to test data in combination with a numerical method based on optimization calculation.

[0066] 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 represented by the following formula:

[0067]

[0068] wherein v is the vehicle driving speed, 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, the speed and speed ratio of the front drive motor are selected to predict the vehicle speed sequence in the future time domain, and the motor load torque sequence in the future time domain is finally obtained, and the corresponding prediction model is as follows:

[0069]

[0070] wherein T load is the motor load torque; ω Fr is the speed prediction value of the front drive motor; r r is the wheel rolling radius; i Fr is the front drive motor speed ratio; and k0, k1 and k2 are the set driving resistance coefficients.

[0071] Further, based on the prediction model corresponding to the load torque sequence, the first load torque is determined according to the speed prediction value 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 second load torque at any third time can be determined according to the speed prediction value 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.

[0072] Step 304, determining the first resultant torque at the first time according to the first torque, the third torque and the first load torque.

[0073] As an example, the first torque value is determined according to the torque sum of the first torque and the third torque; and the first resultant torque is determined according to the torque difference between the first torque value and the first load torque.

[0074] In step 305, the first resultant torque and the first rotational speed of the front drive motor at the first time are input into the rotational speed prediction model to obtain the first target rotational speed of the front drive motor at the first third time among the plurality of third times.

[0075] As an example, the product of the set motor equivalent rotational damping coefficient and the rotational speed of the front drive motor at any time is taken as a first coefficient; the difference between the resultant torque of the front drive motor at any time and the first coefficient is taken as a second coefficient; the second coefficient is integrated in the time interval between any time and the next adjacent time to obtain a third coefficient; and the rotational speed prediction model for predicting the rotational speed of the front drive motor at the next adjacent time of any time is constructed according to the ratio between the third coefficient and the set motor equivalent moment of inertia.

[0076] In the embodiments of the present disclosure, the formula describing the rotational speed prediction model can be as follows:

[0077]

[0078] wherein t i is any time, t i+1 is the next adjacent time of t i , ω is the rotational speed of the front drive motor at t i+1 , T is the resultant torque of the front drive motor at t i , which is obtained by subtracting the load torque from the total drive torque of the two motors, is the rotational speed of the front drive motor at the current t i , J equ is the motor equivalent moment of inertia, D equ is the set motor equivalent rotational damping coefficient, is the first coefficient, is the second coefficient, is the third coefficient.

[0079] Therefore, the first resultant torque corresponding to the first time and the first rotational speed of the front drive motor at the first time are input into the rotational speed prediction model, and the rotational speed prediction model can output the first target rotational speed of the front drive motor at the first third time among the plurality of third times.

[0080] 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 application and belongs to the protection scope of the present application.

[0081] In step 306, for a non-first third time in the plurality of third times, a second resultant torque of a previous third time of the non-first third time is determined according to a second torque, a fourth torque and a second load torque corresponding to the previous third time of the non-first third time.

[0082] Similarly, for a non-first third time in the plurality of times, when predicting a first target rotating speed of the non-first third time, a second resultant torque of a previous third time of the non-first third time can be determined according to a sum of the second torque and the fourth torque of the previous third time of the non-first third time, and a difference between the second load torque of the previous third time of the non-first third time.

[0083] In step 307, the first target rotating speed and the second resultant torque corresponding to the previous third time of the non-first third time are input into the rotating speed prediction model to obtain the first target rotating speed of the front drive motor at the non-first third time output by the rotating speed prediction model.

[0084] Further, the first target rotating speed and the second resultant torque corresponding to the previous third time of the non-first third time are input into the rotating speed prediction model, and the rotating speed prediction model can output the first target rotating speed of the front drive motor at the non-first third time.

[0085] In step 308, a preset rotating speed conversion coefficient is used to convert the first target rotating speeds of the front drive motor at the plurality of third times to obtain second target rotating speeds of the rear drive motor at the plurality of third times.

[0086] In step 309, the first target powers of the front drive motor at the plurality of third times are determined according to the first target rotating speeds and the second torques of the front drive motor at the plurality of third times, and the second target powers of the rear drive motor at the plurality of third times are determined according to the second target rotating speeds and the fourth torques of the rear drive motor at the plurality of third times.

[0087] It should be noted that the execution processes of steps 301 to 302 and steps 308 to 309 can be realized by any one of the embodiments of the present disclosure, and the embodiments of the present disclosure do not limit this, and will not be repeated here.

[0088] In summary, by determining the first load torque of the dual motor at the first time and the second load torque at the plurality of third times, determining the first resultant torque at the first time according to the first torque, the third torque and the first load torque, inputting the first resultant torque and the first speed of the front drive motor at the first time into the speed prediction model to obtain the first target speed of the front drive motor at the first target time in the plurality of third times, for the non-first third time in the plurality of third times, determining the second resultant torque at the previous third time of the non-first third time according to the second torque, the fourth torque and the second load torque corresponding to the previous third time of the non-first third time, inputting the first target speed corresponding to the previous third time of the non-first third time and the second resultant torque into the speed prediction model to obtain the first target speed of the front drive motor at the non-first third time output by the speed prediction model, thereby, by using the speed prediction model, the first target speed of the front drive motor at the plurality of third times can be accurately predicted.

[0089] In order to avoid the problem of overcharging or overdischarging of the battery, eliminate the risk of thermal runaway of the battery, and ensure the safety of the vehicle, in the embodiment of the present disclosure, the first torque and the third torque can be updated at least once according to the first target power of the front drive motor at the plurality of third times and the second target power of the rear drive motor at the plurality of third times, and 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 third torque obtained by the last update. The following will be described in detail. Figure 4 .

[0090] Figure 4 The flowchart of the dual-motor power prediction method according to one embodiment of the present disclosure is shown in the figure.

[0091] As shown in Figure 4 , the dual-motor power prediction method can include the following steps:

[0092] Step 401, obtaining the first torque of the front drive motor at the first time and the second torque at the plurality of third times after the first time, and the third torque of the rear drive motor at the first time and the fourth torque at the plurality of third times after the first time.

[0093] Step 402, predicting the speed of the front drive motor based on the first torque and the third torque to obtain the first target speed of the front drive motor at the first target time in the plurality of third times, and predicting the speed of the front drive motor based on the plurality of second torques and the plurality of fourth torques to obtain the first target speed of the front drive motor at the non-first third time in the plurality of third times.

[0094] In step 403, the first target rotating speeds of the front drive motor at the plurality of third time points are converted into the second target rotating speeds of the rear drive motor at the plurality of third time points by using a preset rotating speed conversion coefficient.

[0095] In step 404, the first target powers of the front drive motor at the plurality of third time points are determined according to the first target rotating speeds of the front drive motor at the plurality of third time points and the second torque, and the second target powers of the rear drive motor at the plurality of third time points are determined according to the second target rotating speeds of the rear drive motor at the plurality of third time points and the fourth torque.

[0096] In step 405, the first torque and the third torque are updated at least once according to the first target powers of the front drive motor at the plurality of third time points and the second target powers of the rear drive motor at the plurality of third time points.

[0097] In order to control the front drive motor and the rear drive motor in advance to avoid overcharging or overdischarging of the battery, the first torque and the third torque are updated at least once according to the first target powers of the front drive motor at the plurality of third time points and the second target powers of the rear drive motor at the plurality of third time points.

[0098] As a possible implementation, the third target power is determined according to the first target power and the second target power at the last third time point in the plurality of third time points; in a case where the third target power is greater than a preset first power threshold, the first power threshold is reduced to obtain a second power threshold according to a first power difference between the third target power and the first power threshold; and the first torque and the third torque are reduced at least once according to the second power threshold, so that a fourth target power obtained according to the first target power determined according to the reduced first torque and the second target power determined according to the reduced third torque is less than the second power threshold, and a power difference between the fourth target power and the second power threshold is less than a power difference threshold.

[0099] That is, in the case of extreme charging or extreme discharging of the battery, the first target power and the second target power at the last third time point in the plurality of time points are used as the third target power to control the front drive motor and the rear drive motor in advance, and in a case where the third target power is greater than a preset first power threshold, a power difference between the first power threshold and the third target power is determined as a first power difference, the first power threshold is reduced by the first power difference to obtain a second power threshold, and the first torque and the third torque are reduced at least once according to the second power threshold, so that a fourth target power obtained according to the first target power determined according to the reduced first torque and the second target power determined according to the reduced third torque is less than the second power threshold, and a power difference between the fourth target power and the second power threshold is less than a power difference threshold.

[0100] As another possible implementation, in a case where the third target power is less than the first power threshold and a second power difference between the third target power and the first power threshold is greater than the power difference threshold, the first power threshold is increased according to the first power difference to obtain a third power threshold; the first torque and the third torque are reduced at least once, so that a fifth target power determined according to the first target power determined according to the increased first torque and the second target power determined according to the increased third torque is less than the second power threshold, and a power difference between the fifth target power and the second power threshold is less than the power difference threshold.

[0101] In the embodiments of the present disclosure, in a case where the third target power is less than the first power threshold, a power difference between the third target power and the first power is determined as a second power difference, and in a case where the second power difference is greater than a set power difference threshold, the first power threshold is increased by the second power difference to obtain a third power threshold, and then the first torque and the third torque are increased at least once with the third power threshold as a target, so that a power sum of the first target power determined according to the increased first torque and the second target power determined according to the increased third torque is close to the third power threshold, that is, a fifth target power is less than the third power threshold, and a power difference between the fifth target power and the third power threshold is less than the power difference threshold.

[0102] Step 406, 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 third torque.

[0103] 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 third torque.

[0104] It should be noted that the execution processes of steps 401 to 404 can be implemented by any one of the embodiments of the present disclosure, and the embodiments of the present disclosure do not limit this and will not be repeated.

[0105] In summary, the first torque and the third torque are updated at least once by the first target power of the front drive motor at the plurality of third moments and the second target power of the rear drive motor at the plurality of third moments; at the first moment, 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 third torque obtained by the last update, so that the third target power determined according to the first target power and the second target power of the last third moment in the plurality of third moments is used to control the front drive motor and the rear drive motor in advance, so as to avoid overcharging or overdischarging of the battery, eliminate the hidden danger of battery heat, and ensure the safety of the vehicle.

[0106] In any embodiment of the present disclosure, as shown in Figure 5 The double-motor power prediction method can also be implemented based on the following steps:

[0107] 1. Obtain the front and rear drive motor request torque, current torque and current speed;

[0108] 2. Prediction of double-motor system torque sequence;

[0109] Since the motor controller MCU of the vehicle controls the motor output torque to follow the request torque, there is a capacity lag and a 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 and rear drive motors, as shown in the accompanying Figure 6 The dynamic equation describing the prediction process is as follows:

[0110]

[0111] Wherein and are the driving torques of the front drive motor and the rear drive motor at t i ; and are the request torques of the front drive motor and the rear drive motor at 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;

[0112] 3. Construct an equivalent motor dynamics model;

[0113] Based on the rigid body fixed-axis rotation theorem, a motor dynamics model is established to obtain a motor torque-speed differential equation (equivalent speed prediction model). Meanwhile, a motor rotation damping term is introduced to modify the original motor torque-speed differential equation. After defining the necessary model parameters, the equivalent motor dynamics model (motor equivalent speed prediction model) is finally obtained, and its differential equation form is as follows:

[0114]

[0115] where ω equ is the equivalent speed of the motor; T Fr and T Re are the driving torques of the front and rear motors, respectively; T load is the total load torque of the motor (load torque), J equ is the equivalent moment of inertia of the motor, D equ is the equivalent rotational damping coefficient of the motor, where the driving torque T Fr and T Re are model inputs, the equivalent speed ω equ is the equivalent moment of inertia J equ and the equivalent rotational damping coefficient D equ are model outputs, and the load torque T load is a model intermediate variable.

[0116] 4. Predicting a motor load torque sequence;

[0117] The total load torque of the motor is predicted according to the total wheel edge resistance, and the specific calculation method can be represented as:

[0118]

[0119] where T load is the total load torque of the motor; F r is the total wheel edge resistance during vehicle travel, which is related to the vehicle speed; r r is the wheel rolling radius; and i0 is the motor speed ratio. In the embodiment of the disclosure, the total wheel edge resistance (wheel edge resistance) during vehicle travel is predicted using a travel resistance model based on the travel speed, which can be represented as the following formula:

[0120]

[0121] where T load is the load torque of the motor; F r is the wheel edge resistance during vehicle travel; r r is the wheel rolling radius; and i0 is the motor speed ratio. In the embodiment of the disclosure, as shown in Figure 7 , the wheel edge resistance during vehicle travel can be predicted using a travel resistance model based on the travel speed, which can be represented as the following formula:

[0122] F r (t) = k0 + k1v(t) + k2v(t) 2 ;

[0123] where F ris the wheel side resistance during vehicle driving; v is the vehicle driving speed; k0, k1 and k2 are resistance coefficients of model constant term, vehicle speed first order term and vehicle speed second order term respectively. k0, k1 and k2 are 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 a numerical method based on optimization calculation.

[0124] It should be noted that the predicted motor speed can be converted to obtain the vehicle driving speed, and the specific conversion process can be represented by the following formula:

[0125]

[0126] wherein v is the vehicle driving speed, 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, the speed and speed ratio of the front drive motor are selected to predict the vehicle speed sequence in the future time domain, and the motor load torque sequence in the future time domain is finally obtained, and the corresponding prediction model is as follows:

[0127]

[0128] 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 set driving resistance coefficients.

[0129] 5. Constructing a dual motor system speed prediction model;

[0130] It should be understood that for a single motor drive system, the slip rate of the non-drive wheels of the vehicle is low; and 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 present disclosure, the test data of the front drive motor can be used to identify the parameters of the motor equivalent dynamics model, and the data of the front drive motor is substituted, and then the motor equivalent speed solved is the speed of the front drive motor; further, the test data of the rear drive motor is used to fit the motor speed conversion model, which solves the speed of the rear drive motor according to the speed of the front drive motor, the speed ratio of the front drive motor and the speed ratio of the rear drive motor. The motor equivalent dynamics model (speed prediction model) and the motor speed conversion model solved finally are as follows:

[0131]

[0132] wherein, and are the front motor speed prediction value and the rear motor speed prediction value at time t i+1 is the motor shaft end combined torque (resultant torque) at time t i , which is obtained by subtracting the load torque from the total driving torque of the two motors; is the front driving motor speed at the current time t i equ is the motor equivalent moment of inertia; equ is the motor equivalent rotational damping coefficient; con is the motor speed conversion coefficient (speed conversion coefficient); i Fr and i Re are the front driving motor speed ratio and the rear driving motor speed ratio, respectively. Among them, the equivalent moment of inertia J equ , the equivalent rotational damping coefficient D equ and the speed conversion coefficient C con are calibrated using the test data of the dual motor combined with the parameter identification method. The structure diagram of the finally proposed motor speed prediction model is shown in Figure 7 Figure 7 The dual motor speed prediction model in

[0133] 6. Prediction of dual motor system speed sequence;

[0134] As shown in Figure 8 , the front motor represents the front driving motor, and the rear motor represents the rear driving motor. According to the driving torque and instantaneous speed of the dual motor at the last time, the motor speed prediction module is called to solve the dual motor speed sequence at the next time layer by layer, and the layer-by-layer solving process can be represented as the following nested model:

[0135]

[0136] wherein f(T Fr , T Re , ω Fr , ω Re ) represents the dual motor speed prediction integrated model; N is the width of the prediction time domain. When solving layer by layer, in order to limit the accumulation of prediction error, the limit value of the prediction time domain width N needs to be set, which needs to be set reasonably according to the simulation results of the test data.

[0137] 7. Prediction of dual motor system power sequence;

[0138] ​​​According to the torque prediction sequence and the rotation speed prediction sequence of the double-motor prediction time domain, the power prediction sequence of the double-motor prediction time domain is calculated by using the motor power calculation formula, and the corresponding matrix operation process is as follows: wherein the rotation speed prediction sequence of the front / rear drive motor is represented by a diagonal sparse matrix.

[0139]

[0140] respectively represent the predicted values of the motor power at t1~t N time; respectively represent the predicted values of the motor power at t1~t N time; respectively represent the predicted values of the motor rotation speed at t1~t N time; respectively represent the predicted values of the motor rotation speed at t1~t N time; respectively represent the predicted values of the motor torque at t1~t N time; respectively represent the predicted values of the motor torque at t1~t N time.

[0141] 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 this specific calculation method does not deviate from the basic principle of the present application and belongs to the protection scope of the present application.

[0142] The dual-motor power prediction method of this disclosure involves obtaining the first torque of the front drive motor at a first moment and the second torque at multiple third moments after the first moment, as well as the third torque of the rear drive motor at the first moment and the fourth torque at multiple third moments after the first moment. Based on the first torque and the third torque, the rotational speed of the front drive motor is predicted to obtain the first target rotational speed of the front drive motor at the first third moment among the multiple third moments. Based on the multiple second torques and the multiple fourth torques, the rotational speed of the front drive motor is predicted to obtain the first target rotational speed of the front drive motor at non-first third moments among the multiple third moments. A preset rotational speed conversion coefficient is used to convert the first target rotational speed of the front drive motor at the multiple third moments to obtain the second target rotational speed of the rear drive motor at the multiple third moments. Based on the first target rotational speed and the second torque of the front drive motor at the multiple third moments, the first target power of the front drive motor at the multiple third moments is determined. Based on the second target rotational speed and the fourth torque of the rear drive motor at the multiple third moments, the second target power of the rear drive motor at the multiple third moments is determined. Therefore, when the first moment is the current moment, the rotational speed of the front drive motor at future moments can be predicted based on the real-time torque of the front drive motor at the current moment and the real-time changing target torque at future moments. This yields the real-time changing target rotational speed of the front drive motor at future moments. By converting the real-time changing target rotational speed of the front drive motor at future moments, the real-time changing target rotational speed of the rear drive motor at future moments can be obtained. Based on the real-time changing target torque and target rotational speed of the front and rear drive motors respectively, power prediction is performed at future moments to obtain the real-time changing target power. This avoids the problem of inaccurate power prediction in related technologies caused by real-time changing external and internal factors during vehicle operation, improving the accuracy of power prediction. Thus, by controlling the dual motors in advance based on the first and second target power at multiple third moments, the problem of battery overcharging or over-discharging can be avoided, eliminating the risk of battery thermal runaway and further ensuring vehicle safety.

[0143] To achieve the above embodiments, this disclosure proposes a dual-motor power prediction device.

[0144] Figure 9 This is a schematic diagram of the structure of a dual-motor power prediction device provided according to an embodiment of the present disclosure.

[0145] like Figure 9 As shown, the dual-motor power prediction device 900 includes: an acquisition module 910, a prediction module 920, a conversion module 930, and a determination module 940.

[0146] The acquisition module 910 is configured to acquire a first torque of the front drive motor at a first time and a second torque of the front drive motor at a plurality of third times after the first time, and a third torque of the rear drive motor at the first time and a fourth torque of the rear drive motor at the plurality of third times after the first time. The prediction module 920 is configured to predict the rotation speed of the front drive motor based on the first torque and the third torque, to obtain a first target rotation speed of the front drive motor at a first third time in the plurality of third times, and predict the rotation speed of the front drive motor based on the plurality of second torques and the plurality of fourth torques, to obtain a first target rotation speed of the front drive motor at a non-first third time in the plurality of third times. The conversion module 930 is configured to convert the first target rotation speed of the front drive motor at the plurality of third times by using a preset rotation speed conversion coefficient, to obtain a second target rotation speed of the rear drive motor at the plurality of third times. The determination module 940 is configured to determine a first target power of the front drive motor at the plurality of third times according to the first target rotation speed of the front drive motor at the plurality of third times and the second torque, and determine a second target power of the rear drive motor at the plurality of third times according to the second target rotation speed of the rear drive motor at the plurality of third times and the fourth torque.

[0147] As a possible implementation manner of the embodiments of the present disclosure, the prediction module 920 is configured to acquire a rotation speed prediction model, wherein the rotation speed prediction model is used to indicate a mapping relationship between a resultant torque of the front drive motor at any time and a rotation speed at a next adjacent time of any time, and the resultant torque is used to represent a difference between a sum of the torque of the front drive motor and the torque of the rear drive motor at any time and a load torque. The rotation speed prediction model is used to predict the rotation speed of the front drive motor based on the first torque and the third torque, to obtain the first target rotation speed of the front drive motor at the first third time in the plurality of third times, and predict the rotation speed of the front drive motor based on the plurality of second torques and the plurality of fourth torques, to obtain the first target rotation speed of the front drive motor at the non-first third time in the plurality of third times.

[0148] As a possible implementation manner of the embodiment of the present disclosure, the prediction module 920 is further configured to determine a first load torque of the dual-motor at the first time and second load torques at the plurality of third times; determine a first resultant torque at the first time according to the first torque, the third torque and the first load torque; input the first resultant torque and a first rotating speed of the front drive motor at the first time into the rotating speed prediction model to obtain a first target rotating speed of the front drive motor at a first third time in the plurality of third times; for a non-first third time in the plurality of third times, determine a second resultant torque at a previous third time of the non-first third time according to a second torque corresponding to the previous third time of the non-first third time, a fourth torque and a second load torque; input the first target rotating speed corresponding to the previous third time of the non-first third time and the second resultant torque into the rotating speed prediction model to obtain the first target rotating speed of the front drive motor at the non-first third time output by the rotating speed prediction model.

[0149] As a possible implementation manner of the embodiment of the present disclosure, the prediction module 920 is further configured to obtain a first set slip rate of the front drive motor and a second set slip rate of the rear drive motor; determine that the first set slip rate is smaller than the second set slip rate; predict the wheel side resistance of the target vehicle based on a plurality of set 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 rotating speed at the first time, and the driving speed at any third time is determined according to the first target rotating speed at the any third time; determine the first load torque and the plurality of second load torques according to the wheel side resistance at the first time and the plurality of third times, the wheel rolling radius of the target vehicle and the set front drive motor speed ratio.

[0150] As a possible implementation manner of the embodiment of the present disclosure, the prediction module 920 is further configured to determine a first torque value according to the torque values of the first torque and the third torque; determine the first resultant torque according to the torque difference between the first torque value and the first load torque.

[0151] As a possible implementation manner of the embodiment of the present disclosure, the prediction module 920 is further configured to take the product between the set motor equivalent rotating damping coefficient and the rotating speed of the front drive motor at any time as a first coefficient; take the difference between the resultant torque of the front drive motor at any time and the first coefficient as a second coefficient; integrate the second coefficient in the time interval between any time and the next adjacent time of any time to obtain a third coefficient; and construct a rotating speed prediction model for predicting the rotating speed of the front drive motor at the next adjacent time of any time according to the ratio between the third coefficient and the set motor equivalent moment of inertia.

[0152] As a possible implementation manner of the embodiment of the present disclosure, the rotating speed prediction model is expressed by the following formula: wherein, t i is any moment, t i+1 is the next adjacent moment of t i , is the predicted value of the rotating speed of the front driving motor at the moment t i+1 , is the resultant force torque corresponding to the front driving motor at the moment t i , is the rotating speed of the front driving motor at the moment t i , J equ is the equivalent rotating inertia of the motor, D equ is the equivalent rotating damping coefficient of the motor, is the first coefficient, is the second coefficient, is the third coefficient.

[0153] As a possible implementation manner of the embodiment of the present disclosure, the dual-motor power prediction device 900 further comprises an updating module and a control module.

[0154] wherein, the updating module is configured to update the first torque and the third torque at least once according to the first target power of the front driving motor at the plurality of third moments and the second target power of the rear driving motor at the plurality of third moments; and the control module is configured to control the front driving motor according to the first torque obtained after the last update at the first moment, and control the rear driving motor according to the third torque obtained after the last update.

[0155] As a possible implementation manner of the embodiment of the present disclosure, the updating module is further configured to determine the third target power according to the first target power and the second target power at the last third moment of the plurality of third moments; in the case that the third target 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 target power and the first power threshold; and reduce the first torque and the third torque at least once according to the second power threshold, so that the fourth target power obtained according to the first target power determined by the reduced first torque and the second target power determined by the reduced third torque is less than the second power threshold, and the power difference between the fourth target power and the second power threshold is less than a power difference threshold.

[0156] 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 target power is less than the first power threshold and a second power difference between the third target power and the first power threshold is greater than a power difference threshold, increase the first power threshold according to the second power difference to obtain a third power threshold; and increase the first torque and the third torque at least once, so that a fifth target power determined according to the first target power determined according to the increased first torque and the second target power determined according to the increased third torque is less than the third power threshold and a power difference between the fifth target power and the third power threshold is less than the power difference threshold.

[0157] The dual-motor power prediction device of the embodiment of the present disclosure obtains the first torque of the front drive motor at the first time and the second torque at the multiple third times after the first time, and the third torque of the rear drive motor at the first time and the fourth torque at the multiple third times after the first time; predicts the rotation speed of the front drive motor based on the first torque and the third torque to obtain the first target rotation speed of the front drive motor at the first third time among the multiple third times, and predicts the rotation speed of the front drive motor based on the multiple second torques and the multiple fourth torques to obtain the first target rotation speed of the front drive motor at the non-first third time among the multiple third times; converts the first target rotation speed of the front drive motor at the multiple third times by using a preset rotation speed conversion coefficient to obtain the second target rotation speed of the rear drive motor at the multiple third times; determines the first target power of the front drive motor at the multiple third times according to the first target rotation speed of the front drive motor at the multiple third times and the second torque, and determines the second target power of the rear drive motor at the multiple third times according to the second target rotation speed of the rear drive motor at the multiple third times and the fourth torque. Thus, when the first time is the current time, the rotation speed of the front drive motor at the future time after the current time can be predicted based on the obtained real-time torque of the front drive motor at the current time and the real-time changing target torque at the future time, the real-time changing target rotation speed of the front drive motor at the future time is obtained, the real-time changing target rotation speed of the rear drive motor at the future time is obtained by converting the real-time changing target rotation speed of the front drive motor at the future time, the power at the future time is predicted according to the real-time changing target torque and the target rotation speed of the front drive motor and the rear drive motor at the future time, respectively, the real-time changing target power is obtained, the problem of inaccurate power prediction in the related art caused by real-time changing external factors and internal factors in the vehicle driving process is avoided, the accuracy of power prediction is improved, and thus the dual motor is controlled in advance according to the first target power and the second target power at the future time, the problem of overcharging or overdischarging of the battery is avoided, the risk of thermal runaway of the battery is eliminated, and the safety of the vehicle is further ensured.

[0158] It should be noted that the foregoing explanation of the method embodiments also applies to the apparatus of this embodiment, and will not be repeated here.

[0159] To implement the above embodiments, this disclosure also proposes an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the dual-motor power prediction method described in the above embodiments.

[0160] To implement the above embodiments, this disclosure also proposes a vehicle including the electronic equipment described in the above embodiments.

[0161] To implement the above embodiments, this disclosure also proposes a computer-readable storage medium storing a computer program that, when executed by a processor, implements the dual-motor power prediction method described in the above embodiments.

[0162] To implement the above embodiments, this disclosure also proposes a computer program product on which a computer program is stored, which, when executed by a processor, implements the dual-motor power prediction method described in the above embodiments.

[0163] Figure 10 This is a structural block diagram of an electronic device provided according to an embodiment of the present disclosure. Figure 10 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments disclosed herein.

[0164] like Figure 10 As shown, the electronic device 1000 includes a processor 1001, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a memory 1006 into a random access memory (RAM) 1003. The RAM 1003 also stores various programs and data required for the operation of the electronic device 1000. The processor 1001, ROM 1002, and RAM 1003 are interconnected via a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0165] The following components are connected to I / O interface 1005: memory 1006 including hard disk; and communication section 1007 including network interface card such as LAN (Local Area Network) card, modem, etc., communication section 1007 performs communication processing via a network such as the Internet; drive 1008 is also connected to I / O interface 1005 as needed.

[0166] In particular, according to embodiments of the present disclosure, the processes described above with reference to the flowcharts can be implemented as a computer software program. For example, embodiments of the present disclosure include a computer program carried on a computer-readable medium, the computer program containing 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 1007. When the computer program is executed by the processor 1001, the above-described functions defined in the methods of the present disclosure are executed.

[0167] In an exemplary embodiment, a storage medium including instructions, such as the memory 1006 including instructions, is also provided, which can be executed by the processor 1001 of the electronic device 1000 to complete the above-described methods. Alternatively, the storage medium can be a non-transitory computer-readable storage medium, such as a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0168] In the description of the present specification, 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 present disclosure. In the present specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Also, 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, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples, without contradiction.

[0169] In addition, the terms "first", "second", etc. are used only for the purpose of description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present disclosure, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly specified.

[0170] Any process or method descriptions in flowcharts or otherwise described herein can be understood as representing code modules, segments, or portions of code which include one or more executable instructions for implementing specific logic functions (or steps) in the process, and the various embodiments of the present disclosure include alternative implementations of the code modules, segments, or portions of code described as a sequential process, in which alternate implementations can perform functions in different orders or execute functions at substantially the same time, or perform functions in reverse order, and the like, as will be understood by those skilled in the art.

[0171] The logic and / or steps represented in flow diagrams or otherwise described herein, for example, can be considered as a sequence of instructions to implement logic functions, and can be embodied in any computer-readable medium for use by 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. In the context of this specification, a "computer-readable medium" can be any means 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 machine-readable storage device (e.g., magnetic, optical or other) a machine-readable storage diskette (e.g., floppy disk, optical disk, CD- ROM, etc.), a machine- readable storage card (e.g., PCMCIA card, etc.), a machine-readable storage tape (e.g., magnetic tape, optical tape, etc.), a machine-readable storage medium (e.g., RAM, ROM, etc.), a machine-readable signal (e.g., electrical, optical, etc.), a machine-readable medium (e.g., carrier wave, etc.) or any other suitable medium or means of embodying the program. More specific examples (a non-exhaustive list) of the computer-readable medium include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a RAM, a ROM, an EPROM, a FLASH memory card, an optical fiber, and a portable compact disc read-only memory (CD-ROM). Additionally, the computer-readable medium can be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, for example, via optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and stored in a computer memory.

[0172] It should be understood that portions of the present disclosure can be implemented in hardware, software, firmware or combinations thereof. In the above embodiments, the various 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, as in another embodiment, any of the following technologies, or combinations thereof, can be used: a discrete logic circuit having logic gates for implementing logic functions on data signals, an application specific integrated circuit having appropriate combinational logic gates, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0173] Those skilled in the art can understand that all or part of the steps carried out by the above-mentioned embodiment method 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 embodiment is included.

[0174] 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.

[0175] 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 second torque at a plurality of third times after the first time, and a third torque of the rear drive motor at the first time and a fourth torque at a plurality of third times after the first time; obtaining a speed prediction model, wherein the speed prediction model is used to represent the mapping relationship between the corresponding resultant torque of the front drive motor at any time and the speed and the speed of the next adjacent time of the any time, and the resultant torque is used to represent the difference between the sum of the torque of the front drive motor and the torque of the rear drive motor at any time and the corresponding load torque; using the speed prediction model, based on the first torque and the third torque, the speed of the front drive motor is predicted, the first target speed of the front drive motor at the first third time in the plurality of third times is obtained, and based on the plurality of second torques and the plurality of fourth torques, the speed of the front drive motor is predicted, the first target speed of the front drive motor at the non-first third time in the plurality of third times is obtained; using a preset speed conversion coefficient, the first target speed of the front drive motor at the plurality of third times is converted to obtain the second target speed of the rear drive motor at the plurality of third times; determining the first target power of the front drive motor at the plurality of third times according to the first target speed and the second torque of the front drive motor at the plurality of third times, and determining the second target power of the rear drive motor at the plurality of third times according to the second target speed and the fourth torque of the rear drive motor at the plurality of third times.

2. The method of claim 1, wherein, The using the speed prediction model, the speed of the front drive motor is predicted according to the first torque, the plurality of second torques, the third torque and the plurality of fourth torques, to obtain the first target speed of the front drive motor at the plurality of third times, including: determining the first load torque of the double motor at the first time and the second load torque at the plurality of third times; determining the first resultant torque at the first time according to the first torque, the third torque and the first load torque; inputting the first resultant torque and the first speed of the front drive motor at the first time into the speed prediction model to obtain the first target speed of the front drive motor at the first third time in the plurality of third times; for the non-first third time in the plurality of third times, determining the second resultant torque of the previous third time of the non-first third time according to the second torque, the fourth torque and the second load torque corresponding to the previous third time of the non-first third time; inputting the first target speed and the second resultant torque corresponding to the previous third time of the non-first third time into the speed prediction model to obtain the first target speed of the front drive motor at the non-first third time output by the speed prediction model.

3. The method of claim 2, wherein, The determining the first load torque of the double motor at the first time and the second load torque at the plurality of third times comprises: Obtaining a first set slip rate of the front drive motor and a second set slip rate of the rear drive motor; Determining that the first set slip rate is less than the second set slip rate, predicting the wheel side resistance of the target vehicle based on a plurality of set rolling 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 target speed at any third time; According to the wheel side resistance at the first time and the plurality of third times, the wheel rolling radius of the target vehicle and the set front drive motor speed ratio, the first load torque and the plurality of second load torques are determined.

4. The method of claim 2, wherein, The determining the first target torque at the first time according to the first torque, the third torque and the first load torque comprises: According to the torque sum value of the first torque and the third torque, the first torque sum value is determined; According to the torque difference value between the first torque sum value and the first load torque, the first resultant torque is determined.

5. The method of claim 1, wherein, The obtaining of the speed prediction model comprises: Taking the product between the set motor equivalent rotational damping coefficient and the speed of the front drive motor at any time as a first coefficient; Taking the difference value between the resultant torque corresponding to the front drive motor at any time and the first coefficient as a second coefficient; Integrating the second coefficient in the time interval between the any time and the next adjacent time of the any time to obtain a third coefficient; According to the ratio between the third coefficient and the set motor equivalent moment of inertia, a speed prediction model for predicting the speed of the front drive motor at the next adjacent time of the any time is constructed.

6. The method of claim 5, wherein, The speed prediction model is represented by the following formula: ； wherein, is the any moment, is the next adjacent moment of the any moment, is the speed of the front drive motor at the moment, is the resultant torque corresponding to the front drive motor at the moment, is the speed of the front drive motor at the moment, is the equivalent rotational inertia of the motor, is the equivalent rotational damping coefficient of the motor, is the first coefficient, is the second coefficient, is the third coefficient.

7. The method of claim 1, wherein, After the determining the first target power of the front drive motor at the plurality of third times based on the first target speed of the front drive motor at the plurality of third times and the second torque, and the determining the second target power of the rear drive motor at the plurality of third times based on the second target speed of the rear drive motor at the plurality of third times and the fourth torque, the method further comprises: According to the first target power of the front drive motor at the plurality of third times and the second target power of the rear drive motor at the plurality of third times, the first torque and the third torque are updated at least once; 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 third torque obtained by the last update.

8. The method of claim 7, wherein, The first target power of the front drive motor at the plurality of third times and the second target power of the rear drive motor at the plurality of third times, the first torque and the third torque are updated at least once, comprising: determining a third target power according to the first target power and the second target power of a last third time in the plurality of third times; in a case that the third target power is greater than a set first power threshold, reducing the first power threshold to obtain a second power threshold according to a first power difference between the third target power and the first power threshold; performing at least one reduction on the first torque and the third torque according to the second power threshold, so that a fourth target power determined according to a reduced first torque and a second target power determined according to a reduced third torque is less than the second power threshold, and a power difference between the fourth target power and the second power threshold is less than a power difference threshold.

9. The method of claim 8, wherein, The method further comprises: in a case that the third target power is less than the first power threshold and a second power difference between the third target power and the first power threshold is greater than a power difference threshold, increasing the first power threshold to obtain a third power threshold according to the second power difference; performing at least one increase on the first torque and the third torque, so that a fifth target power determined according to an increased first torque and a second target power determined according to an increased third torque is less than the third power threshold, and a power difference between the fifth target power and the third power threshold is less than a power difference threshold.

10. A dual-motor power prediction device, characterized by, The dual motor includes a front drive motor and a rear drive motor of a target vehicle, and the device includes: an acquisition module configured to acquire a first torque of the front drive motor at a first time and a second torque of the front drive motor at a plurality of third times after the first time, and a third torque of the rear drive motor at the first time and a fourth torque of the rear drive motor at the plurality of third times after the first time; a prediction module configured to acquire a rotation speed prediction model, wherein the rotation speed prediction model is used to represent a mapping relationship between a resultant torque of the front drive motor at any time and a rotation speed of a next adjacent time of the any time and a rotation speed of the front drive motor, the resultant torque is used to represent a difference between a sum of the torque of the front drive motor and the torque of the rear drive motor at any time and a corresponding load torque; the rotation speed prediction model is used to predict the rotation speed of the front drive motor based on the first torque and the third torque, to obtain a first target rotation speed of the front drive motor at a first third time in the plurality of third times, and to predict the rotation speed of the front drive motor based on the plurality of second torques and the plurality of fourth torques, to obtain a first target rotation speed of the front drive motor at a non-first third time in the plurality of third times; a conversion module configured to convert the first target rotation speed of the front drive motor at the plurality of third times by using a preset rotation speed conversion coefficient, to obtain a second target rotation speed of the rear drive motor at the plurality of third times; and a determination module configured to determine a third target power according to the first target power and the second target power of a last third time in the plurality of third times. The determining module is configured to determine first target powers of the front drive motor at the third time points according to the first target rotating speeds and the second torques of the front drive motor at the third time points, and determine second target powers of the rear drive motor at the third time points according to the second target rotating speeds and the fourth torques of the rear drive motor at the third time points.

11. 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 1-9.

12. A vehicle characterized by comprising: Comprising: the electronic device of claim 11. 13.A computer readable storage medium, when instructions in the computer readable storage medium are executed by a processor of an electronic device, enable the electronic device to perform the dual-motor power prediction method of any one of claims 1-9.

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