Torque distribution method, device and equipment for double electric drive axle vehicle and readable storage medium

Abstract

The application provides a torque distribution method, device and equipment for a dual-motor-bridge vehicle and a readable storage medium. The method comprises the following steps: determining a driving state of the vehicle based on an absolute value of a speed difference between a middle-bridge motor and a rear-bridge motor, a constant-speed cruise switch signal, an absolute value of a first wheel speed difference between front wheels and an absolute value of a second wheel speed difference between rear wheels; comparing a judgment factor corresponding to the driving state with a threshold value corresponding to the driving state to obtain a comparison result; and distributing torque of the middle-bridge motor and the rear-bridge motor based on a torque distribution strategy corresponding to the comparison result. Through the application, the driving state of the vehicle is determined first, and then the torque of the middle-bridge motor and the rear-bridge motor is distributed based on the torque distribution strategy corresponding to the comparison result under the driving state, so that the torque of the front-axle motor and the rear-axle motor under different driving states of the vehicle can be reasonably distributed.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of axle, in particular to a double electric drive axle vehicle torque distribution method, device, equipment and readable storage medium. BACKGROUND

[0002] With the rapid development and popularization of new energy pure electric vehicles, for most two-axle driven electric vehicles, the torque distribution strategy of front axle motor and rear axle motor must be considered. Therefore, a double electric drive axle vehicle torque distribution method is urgently needed. SUMMARY

[0003] The main purpose of the present application is to provide a double electric drive axle vehicle torque distribution method, device, equipment and readable storage medium, which aims to reasonably distribute the torque of front axle motor and rear axle motor under different driving states of the vehicle.

[0004] In a first aspect, the present application provides a double electric drive axle vehicle torque distribution method, which comprises:

[0005] determining the driving state of the vehicle based on the absolute value of the speed difference between the middle axle motor and the rear axle motor, the constant speed cruise switch signal, the absolute value of the first wheel speed difference between the front wheels and the absolute value of the second wheel speed difference between the rear wheels;

[0006] comparing the judgment factor corresponding to the driving state with the threshold value corresponding to the driving state to obtain a comparison result;

[0007] distributing the torque of the middle axle motor and the rear axle motor based on the torque distribution strategy corresponding to the comparison result.

[0008] Optionally, the step of determining the driving state of the vehicle based on the absolute value of the speed difference between the middle axle motor and the rear axle motor, the constant speed cruise switch signal, the absolute value of the first wheel speed difference between the front wheels and the absolute value of the second wheel speed difference between the rear wheels comprises:

[0009] detecting whether the vehicle meets the slip state condition, wherein the slip state condition is that the absolute value of the speed difference between the middle axle motor and the rear axle motor is greater than the speed threshold value, and the absolute value of the first wheel speed difference between the front wheels and the absolute value of the second wheel speed difference between the rear wheels are greater than the wheel speed threshold value;

[0010] if yes, it is determined that the vehicle is in the slip state;

[0011] if no, detecting whether the vehicle is in the cruise state based on the constant speed cruise switch signal;

[0012] if the constant speed cruise switch is opened, it is determined that the vehicle is in the cruise state.

[0013] Optionally, when the driving state is the slip state, the step of comparing the judgment factor corresponding to the driving state with the threshold value corresponding to the driving state to obtain a comparison result comprises:

[0014] comparing the absolute value of the speed difference value with a speed threshold value to obtain a comparison result.

[0015] Optionally, the speed threshold value comprises a first speed threshold value, a second speed threshold value and a third speed threshold value, and the step of distributing the torque of the center motor and the rear motor based on the torque distribution strategy corresponding to the comparison result comprises:

[0016] when the comparison result is that the absolute value of the speed difference value is greater than or equal to the first speed threshold value and less than the second speed threshold value, increasing the torque of the motor with the smaller speed value between the center motor and the rear motor;

[0017] when the comparison result is that the absolute value of the speed difference value is greater than or equal to the second speed threshold value and less than the third speed threshold value, increasing the torque of the motor with the smaller speed value between the center motor and the rear motor and decreasing the torque of the motor with the larger speed value between the center motor and the rear motor;

[0018] when the comparison result is that the absolute value of the speed difference value is greater than or equal to the third speed threshold value, decreasing the torque of the center motor and the rear motor, wherein the first speed threshold value is less than the second speed threshold value, and the second speed threshold value is less than the third speed threshold value.

[0019] Optionally, when the driving state is the cruising state, the step of comparing the judgment factor corresponding to the driving state with the threshold value corresponding to the driving state to obtain a comparison result comprises:

[0020] comparing the vehicle speed when the vehicle is in the cruising state with a vehicle speed threshold value to obtain a comparison result.

[0021] Optionally, the vehicle speed threshold value comprises a first vehicle speed threshold value and a second vehicle speed threshold value, and the step of distributing the torque of the center motor and the rear motor based on the torque distribution strategy corresponding to the comparison result comprises:

[0022] when the comparison result is that the vehicle speed is less than the first vehicle speed threshold value, distributing the total demand torque of the vehicle to the rear motor;

[0023] when the comparison result is that the vehicle speed is greater than or equal to the first vehicle speed threshold value and less than the second vehicle speed threshold value, distributing the total demand torque of the vehicle to the center motor and the rear motor based on a preset proportion corresponding to the vehicle acceleration;

[0024] when the comparison result is that the vehicle speed is greater than or equal to a second vehicle speed threshold, equally distributing the total demand torque of the vehicle to the center motor and the rear motor, wherein the first vehicle speed threshold is less than the second vehicle speed threshold.

[0025] Optionally, the step of distributing the total demand torque of the vehicle to the center motor and the rear motor based on the preset proportion corresponding to the vehicle acceleration comprises:

[0026] obtaining the vehicle acceleration;

[0027] if the vehicle acceleration is positive, distributing the total demand torque of the vehicle to the center motor and the rear motor according to a first preset proportion;

[0028] if the vehicle acceleration is negative, distributing the total demand torque of the vehicle to the center motor and the rear motor according to a second preset proportion, wherein the first preset proportion and the second preset proportion are ratios of the torque to be distributed to the center motor to the total demand torque of the vehicle, and the first preset proportion is less than the second preset proportion.

[0029] In a second aspect, the present application further provides a dual electric drive axle vehicle torque distribution device, comprising:

[0030] a determination module configured to determine a driving state of the vehicle based on an absolute value of a speed difference between the center motor and the rear motor, a constant speed cruise switch signal, an absolute value of a first wheel speed difference between the front wheels, and an absolute value of a second wheel speed difference between the rear wheels;

[0031] a comparison module configured to compare a judgment factor corresponding to the driving state with a threshold value corresponding to the driving state to obtain a comparison result;

[0032] a torque distribution module configured to distribute torque of the center motor and the rear motor based on a torque distribution strategy corresponding to the comparison result.

[0033] In a third aspect, the present application further provides a dual electric drive axle vehicle torque distribution equipment, comprising a processor, a memory, and a dual electric drive axle vehicle torque distribution program stored in the memory and executable by the processor, wherein the dual electric drive axle vehicle torque distribution program is executed by the processor to implement the steps of the dual electric drive axle vehicle torque distribution method.

[0034] In a fourth aspect, the present application further provides a readable storage medium having a dual electric drive axle vehicle torque distribution program stored thereon, wherein the dual electric drive axle vehicle torque distribution program is executed by a processor to implement the steps of the dual electric drive axle vehicle torque distribution method.

[0035] In the present application, the driving state of the automobile is determined based on the absolute value of the speed difference between the middle motor and the rear motor, the constant speed cruise switch signal, the absolute value of the first wheel speed difference between the front wheels, and the absolute value of the second wheel speed difference between the rear wheels; the judgment factor corresponding to the driving state is compared with the threshold value corresponding to the driving state to obtain a comparison result; and the torque of the middle motor and the rear motor is distributed based on the torque distribution strategy corresponding to the comparison result. Through the present application, the driving state of the automobile is determined first, and then the torque of the middle motor and the rear motor is distributed based on the torque distribution strategy corresponding to the comparison result under the driving state, so that the purpose of reasonably distributing the torque of the front axle motor and the rear axle motor under different driving states of the vehicle is achieved. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 The flowchart of the first embodiment of the dual electric drive axle automobile torque distribution method of the present application is shown in the figure.

[0037] Figure 2 The detailed flowchart of step S10 is shown in the figure. Figure 1

[0038] Figure 3 The flowchart of the second embodiment of the dual electric drive axle automobile torque distribution method of the present application is shown in the figure.

[0039] Figure 4 The flowchart of the third embodiment of the dual electric drive axle automobile torque distribution method of the present application is shown in the figure.

[0040] Figure 5 The functional module diagram of an embodiment of the dual electric drive axle automobile torque distribution device of the present application is shown in the figure.

[0041] Figure 6 The hardware structure diagram of the dual electric drive axle automobile torque distribution equipment involved in the embodiment of the present application is shown in the figure.

[0042] The implementation of the purpose of the present application, the functional characteristics and the advantages will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0043] It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0044] In a first aspect, the embodiment of the present application provides a dual electric drive axle automobile torque distribution method.

[0045] In an embodiment, the absolute value of the speed difference between the middle motor and the rear motor is determined based on the absolute value of the speed difference between the middle motor and the rear motor, the constant speed cruise switch signal, the absolute value of the first wheel speed difference between the front wheels, and the absolute value of the second wheel speed difference between the rear wheels. Figure 1 Figure 1 The flowchart of the first embodiment of the dual electric drive axle automobile torque distribution method of the present application is shown in the figure. Figure 1 As shown in the figure, the dual electric drive axle automobile torque distribution method comprises:​​

[0046] In step S10, the driving state of the vehicle is determined based on the absolute value of the speed difference between the middle motor and the rear motor, the constant speed cruise switch signal, the absolute value of the first wheel speed difference between the front wheels, and the absolute value of the second wheel speed difference between the rear wheels.

[0047] In this embodiment, the vehicle constant speed cruise switch signal, the speed of the middle motor, the speed of the rear motor, the wheel speeds of the two front wheels, and the wheel speeds of the two rear wheels are obtained, and the absolute value of the speed difference between the middle motor and the rear motor, the absolute value of the first wheel speed difference between the two front wheels, and the absolute value of the second wheel speed difference between the two rear wheels are calculated. The driving state of the vehicle can be determined based on the absolute value of the speed difference between the middle motor and the rear motor, the constant speed cruise switch signal, the absolute value of the first wheel speed difference between the two front wheels, and the absolute value of the second wheel speed difference between the two rear wheels.

[0048] Further, in an embodiment, the driving state of the vehicle is determined based on the absolute value of the speed difference between the middle motor and the rear motor, the constant speed cruise switch signal, the absolute value of the first wheel speed difference between the two front wheels, and the absolute value of the second wheel speed difference between the two rear wheels. Figure 2 , Figure 2 The driving state of the vehicle is determined based on the absolute value of the speed difference between the middle motor and the rear motor, the constant speed cruise switch signal, the absolute value of the first wheel speed difference between the two front wheels, and the absolute value of the second wheel speed difference between the two rear wheels. Figure 1 In this embodiment, the driving state of the vehicle is determined based on the absolute value of the speed difference between the middle motor and the rear motor, the constant speed cruise switch signal, the absolute value of the first wheel speed difference between the two front wheels, and the absolute value of the second wheel speed difference between the two rear wheels. Figure 2

[0049] In step S101, it is detected whether the vehicle satisfies the slip state condition, wherein the slip state condition is that the absolute value of the speed difference between the middle motor and the rear motor is greater than the speed threshold value, and the absolute value of the first wheel speed difference between the front wheels and the absolute value of the second wheel speed difference between the rear wheels are greater than the wheel speed threshold value.

[0050] In step S102, if the slip state condition is satisfied, it is determined that the vehicle is in the slip state.

[0051] In step S103, if the slip state condition is not satisfied, it is detected whether the vehicle is in the cruise state based on the constant speed cruise switch signal.

[0052] In step S104, if the constant speed cruise switch is opened, it is determined that the vehicle is in the cruise state.

[0053] In this embodiment, it is detected whether the vehicle satisfies the slip state condition based on the absolute value of the speed difference between the middle motor and the rear motor, the absolute value of the first wheel speed difference between the two front wheels, and the absolute value of the second wheel speed difference between the two rear wheels, wherein the slip state condition is that the absolute value of the speed difference between the middle motor and the rear motor is greater than the speed threshold value, and the absolute value of the first wheel speed difference between the front wheels and the absolute value of the second wheel speed difference between the rear wheels are greater than the wheel speed threshold value.

[0054] If the vehicle satisfies the slip state condition, it is determined that the vehicle is in the slip state.

[0055] ​If the vehicle does not satisfy the condition of being in the slip state, it is determined whether the vehicle is in the cruise state based on the constant speed cruise switch signal. If it is determined that the constant speed cruise switch is opened based on the constant speed cruise switch signal, it is determined that the vehicle is in the cruise state.

[0056] In step S20, the judgment factor corresponding to the driving state is compared with the threshold value corresponding to the driving state, to obtain a comparison result.

[0057] In this embodiment, when the driving state is the slip state, the judgment factor corresponding to the driving state is the absolute value of the speed difference between the middle axle motor and the rear axle motor, and the threshold value corresponding to the driving state is the speed threshold value. The absolute value of the speed difference between the middle axle motor and the rear axle motor is compared with the speed threshold value, to obtain a comparison result.

[0058] Or, when the driving state is the cruise state, the judgment factor corresponding to the driving state is the vehicle speed when the vehicle is in the cruise state, and the threshold value corresponding to the driving state is the vehicle speed threshold value. The vehicle speed when the vehicle is in the cruise state is compared with the vehicle speed threshold value, to obtain a comparison result.

[0059] In step S30, the torque of the middle axle motor and the rear axle motor is distributed based on the torque distribution strategy corresponding to the comparison result.

[0060] In this embodiment, when the vehicle is in different driving states, the total demand torque and the power performance of the vehicle are also different, and then different torque distribution strategies of the front axle motor and the rear axle motor are needed. If the torque distribution strategy corresponding to the comparison result obtained when the vehicle is in the slip state is used to distribute the torque of the middle axle motor and the rear axle motor when the vehicle is in the cruise state, the torque distributed to the front axle motor and the rear axle motor will certainly be inappropriate. Therefore, the torque of the middle axle motor and the rear axle motor is distributed based on the torque distribution strategy corresponding to the comparison result under the driving state of the vehicle, so that the inappropriate torque distributed to the front axle motor and the rear axle motor can be avoided.

[0061] In this embodiment, the driving state of the vehicle is determined based on the absolute value of the speed difference between the middle axle motor and the rear axle motor, the constant speed cruise switch signal, the absolute value of the first wheel speed difference between the front wheels, and the absolute value of the second wheel speed difference between the rear wheels; the judgment factor corresponding to the driving state is compared with the threshold value corresponding to the driving state, to obtain a comparison result; and the torque of the middle axle motor and the rear axle motor is distributed based on the torque distribution strategy corresponding to the comparison result. Through this embodiment, the driving state of the vehicle is determined first, and then the torque of the middle axle motor and the rear axle motor is distributed based on the torque distribution strategy corresponding to the comparison result under the driving state, so that the purpose of reasonably distributing the torque of the front axle motor and the rear axle motor under different driving states of the vehicle can be achieved.

[0062] Further, in an embodiment, when the driving state is the slip state, the torque of the middle axle motor and the rear axle motor is distributed based on the torque distribution strategy corresponding to the comparison result.Figure 3 , Figure 3 is a flowchart of a second embodiment of the torque distribution method for the dual-motor-drive axle vehicle of the present application. As shown in step S20, Figure 3 includes:

[0063] Step S201, compare the absolute value of the speed difference between the two motors with a speed threshold value to obtain a comparison result.

[0064] In this embodiment, when the driving state is the slip state, the corresponding judgment factor is the absolute value of the speed difference between the two motors, and the corresponding threshold value is the speed threshold value. Compare the absolute value of the speed difference between the two motors with the speed threshold value to obtain a comparison result.

[0065] Further, in an embodiment, the speed threshold value includes a first speed threshold value, a second speed threshold value, and a third speed threshold value. Referring again to Figure 3 , step S30 includes:

[0066] Step S301, when the comparison result is that the absolute value of the speed difference is greater than or equal to the first speed threshold value and less than the second speed threshold value, increase the torque of the motor with the smaller speed value among the two motors;

[0067] Step S302, when the comparison result is that the absolute value of the speed difference is greater than or equal to the second speed threshold value and less than the third speed threshold value, increase the torque of the motor with the smaller speed value among the two motors, and decrease the torque of the motor with the larger speed value among the two motors;

[0068] Step S303, when the comparison result is that the absolute value of the speed difference is greater than or equal to the third speed threshold value, decrease the torque of the two motors, wherein the first speed threshold value is less than the second speed threshold value, and the second speed threshold value is less than the third speed threshold value.

[0069] In this embodiment, the speed thresholds include a first speed threshold, a second speed threshold, and a third speed threshold. The first speed threshold is less than the second speed threshold, the second speed threshold is less than the third speed threshold, and the first speed threshold is less than or equal to the speed threshold in the slip condition. Therefore, when comparing the absolute value of the speed difference between the middle axle motor and the rear axle motor when the vehicle is in a slip condition with the first, second, and third speed thresholds, the absolute value of the speed difference between the middle axle motor and the rear axle motor will not be less than the first speed threshold. Therefore, the comparison result is that the absolute value of the speed difference between the middle axle motor and the rear axle motor is greater than or equal to the first speed threshold and less than the second speed threshold, or the absolute value of the speed difference between the middle axle motor and the rear axle motor is greater than or equal to the second speed threshold and less than the third speed threshold, or the absolute value of the speed difference between the middle axle motor and the rear axle motor is greater than or equal to the third speed threshold.

[0070] When the comparison result shows that the absolute value of the speed difference between the middle bridge motor and the rear bridge motor is greater than or equal to the first speed threshold and less than the second speed threshold, the torque distribution strategy is to increase the torque of the motor with the smaller speed value between the middle bridge motor and the rear bridge motor.

[0071] When the comparison result shows that the absolute value of the speed difference between the middle bridge motor and the rear bridge motor is greater than or equal to the second speed threshold and less than the third speed threshold, the torque distribution strategy is to increase the torque of the motor with the smaller speed value among the middle bridge motor and the rear bridge motor, and decrease the torque of the motor with the larger speed value among the middle bridge motor and the rear bridge motor.

[0072] When the comparison result shows that the absolute value of the speed difference between the middle axle motor and the rear axle motor is greater than or equal to the third speed threshold, the torque distribution strategy is to reduce the torque of the middle axle motor and the rear axle motor.

[0073] Furthermore, in one embodiment, when the driving state is a cruise state, refer to Figure 4 , Figure 4 This is a schematic flowchart of the third embodiment of the dual-electric-drive axle vehicle torque distribution method of the present invention. Figure 4 As shown, step S20 includes:

[0074] Step S202: Compare the vehicle speed when the car is in cruise mode with the vehicle speed threshold to obtain the comparison result.

[0075] In this embodiment, when the driving state is cruise mode, the corresponding judgment factor is the vehicle speed when the car is in cruise mode, and the corresponding threshold is the vehicle speed threshold. The vehicle speed when the car is in cruise mode is compared with the vehicle speed threshold to obtain the comparison result.

[0076] Furthermore, in one embodiment, the vehicle speed threshold includes a first vehicle speed threshold and a second vehicle speed threshold, continuing to refer to... Figure 4Step S30 includes:

[0077] Step S304: When the comparison result indicates that the vehicle speed is less than the first vehicle speed threshold, the total required torque of the vehicle is allocated to the rear axle motor.

[0078] Step S305: When the comparison result is that the vehicle speed is greater than or equal to the first vehicle speed threshold and less than the second vehicle speed threshold, the total required torque of the vehicle is allocated to the middle axle motor and the rear axle motor based on the preset ratio corresponding to the vehicle acceleration.

[0079] Step S306: When the comparison result is that the vehicle speed is greater than or equal to the second vehicle speed threshold, the total required torque of the vehicle is equally distributed to the middle axle motor and the rear axle motor, wherein the first vehicle speed threshold is less than the second vehicle speed threshold.

[0080] In this embodiment, the total torque demand of the vehicle at time t1 is obtained by querying the relationship table between the accelerator pedal signal at time t1, the vehicle speed at time t1, and the total torque demand of the vehicle. The growth rate of the total torque demand is less than or equal to a torque growth rate threshold, which is determined based on the vehicle's curb weight. Specifically, the longitudinal force F of the front wheels of the vehicle... xf longitudinal force F of the rear wheel of the car xr Equivalent wind resistance F ar Rolling friction resistance R of the front wheels of a car xf Rolling friction resistance R of the rear wheels of a car xr Gravitational acceleration g, road gradient θ, and vehicle acceleration Substitute into the formula The vehicle's curb weight m is calculated. When the vehicle's curb weight m is less than or equal to a preset weight, the torque growth rate threshold is the first torque growth rate threshold. When the vehicle's curb weight m is greater than the preset weight, the torque growth rate threshold is the second torque growth rate threshold. The first torque growth rate threshold is less than the second torque growth rate threshold.

[0081] The vehicle speed thresholds include a first vehicle speed threshold and a second vehicle speed threshold, wherein the first vehicle speed threshold is less than the second vehicle speed threshold. The vehicle speed when cruising is compared with the vehicle speed thresholds. The comparison result is either: the vehicle speed when cruising is less than the first vehicle speed threshold; or, the vehicle speed when cruising is greater than or equal to the first vehicle speed threshold and less than the second vehicle speed threshold; or, the vehicle speed when cruising is greater than or equal to the second vehicle speed threshold.

[0082] When the comparison result shows that the vehicle speed is less than the first speed threshold when the car is cruising, the torque distribution strategy is to distribute the total torque required by the car to the rear axle motor.

[0083] When the comparison result is that the vehicle speed when the vehicle is in the cruising state is greater than or equal to the first vehicle speed threshold and less than the second vehicle speed threshold, the torque distribution strategy is to distribute the total demand torque of the vehicle to the center bridge motor and the rear bridge motor according to a preset proportion corresponding to the vehicle acceleration.

[0084] When the comparison result is that the vehicle speed when the vehicle is in the cruising state is greater than or equal to the second vehicle speed threshold, the torque distribution strategy is to equally distribute the total demand torque of the vehicle to the center bridge motor and the rear bridge motor.

[0085] Further, in an embodiment, the step of distributing the total demand torque of the vehicle to the center bridge motor and the rear bridge motor according to the preset proportion corresponding to the vehicle acceleration comprises:

[0086] obtaining the vehicle acceleration;

[0087] if the vehicle acceleration is positive, distributing the total demand torque of the vehicle to the center bridge motor and the rear bridge motor according to a first preset proportion;

[0088] if the vehicle acceleration is negative, distributing the total demand torque of the vehicle to the center bridge motor and the rear bridge motor according to a second preset proportion, wherein the first preset proportion and the second preset proportion are ratios of the torque to be distributed to the center bridge motor to the total demand torque of the vehicle, and the first preset proportion is less than the second preset proportion.

[0089] In the embodiment, taking the total demand torque of the vehicle as 1000N, the first preset proportion as 0.4, and the second preset proportion as 0.6 as examples, the vehicle acceleration is obtained, if the vehicle acceleration is positive, since the first preset proportion is the ratio of the torque to be distributed to the center bridge motor to the total demand torque of the vehicle and is 0.4, the total demand torque of the vehicle is distributed to the center bridge motor and the rear bridge motor according to the first preset proportion, that is, 400N of torque is distributed to the center bridge motor and 600N of torque is distributed to the rear bridge motor.

[0090] if the vehicle acceleration is negative, since the second preset proportion is the ratio of the torque to be distributed to the center bridge motor to the total demand torque of the vehicle and is 0.6, the total demand torque of the vehicle is distributed to the center bridge motor and the rear bridge motor according to the second preset proportion, that is, 600N of torque is distributed to the center bridge motor and 400N of torque is distributed to the rear bridge motor. It should be noted that the step numbers of the steps in the embodiments of the present application do not limit the order of the operations in the technical solutions of the present application.

[0091] In a second aspect, the embodiments of the present application also provide a dual electric drive bridge vehicle torque distribution device.

[0092] In an embodiment, referring to Figure 5 , Figure 5 is a functional module schematic diagram of an embodiment of the dual electric drive bridge vehicle torque distribution device of the present application. As Figure 5The double electric drive axle vehicle torque distribution device shown comprises:

[0093] A determination module 10 is configured to determine a driving state of the vehicle based on an absolute value of a speed difference between the middle axle motor and the rear axle motor, a constant speed cruise switch signal, an absolute value of a first wheel speed difference between the front wheels, and an absolute value of a second wheel speed difference between the rear wheels.

[0094] A comparison module 20 is configured to compare a judgment factor corresponding to the driving state with a threshold value corresponding to the driving state to obtain a comparison result.

[0095] A torque distribution module 30 is configured to distribute torque of the middle axle motor and the rear axle motor based on a torque distribution strategy corresponding to the comparison result.

[0096] Further, in an embodiment, the determination module 10 is configured to:

[0097] detect whether the vehicle meets a slip state condition, wherein the slip state condition is that the absolute value of the speed difference between the middle axle motor and the rear axle motor is greater than a speed threshold value, and the absolute values of the first wheel speed difference between the front wheels and the second wheel speed difference between the rear wheels are greater than a wheel speed threshold value.

[0098] If yes, it is determined that the vehicle is in a slip state.

[0099] If no, it is detected whether the vehicle is in a cruise state based on the constant speed cruise switch signal.

[0100] If the constant speed cruise switch is on, it is determined that the vehicle is in a cruise state.

[0101] Further, in an embodiment, when the driving state is a slip state, the comparison module 20 is configured to:

[0102] compare the absolute value of the speed difference with a speed threshold value to obtain a comparison result.

[0103] Further, in an embodiment, the speed threshold value includes a first speed threshold value, a second speed threshold value, and a third speed threshold value, and the torque distribution module 30 is configured to:

[0104] when the comparison result is that the absolute value of the speed difference is greater than or equal to the first speed threshold value and less than the second speed threshold value, increase the torque of the motor with the smaller speed value among the middle axle motor and the rear axle motor;

[0105] when the comparison result is that the absolute value of the speed difference is greater than or equal to the second speed threshold value and less than the third speed threshold value, increase the torque of the motor with the smaller speed value among the middle axle motor and the rear axle motor, and decrease the torque of the motor with the greater speed value among the middle axle motor and the rear axle motor;

[0106] When the comparison result is that the absolute value of the speed difference is greater than or equal to a third speed threshold, the torque of the middle motor and the rear motor is reduced, wherein the first speed threshold is less than the second speed threshold, and the second speed threshold is less than the third speed threshold.

[0107] Further, in an embodiment, when the driving state is a cruising state, the comparison module 20 is configured to:

[0108] compare the vehicle speed of the vehicle in the cruising state with a vehicle speed threshold to obtain a comparison result.

[0109] Further, in an embodiment, the vehicle speed threshold includes a first vehicle speed threshold and a second vehicle speed threshold, and the torque distribution module 30 is configured to:

[0110] when the comparison result is that the vehicle speed is less than the first vehicle speed threshold, distribute the total demand torque of the vehicle to the rear motor;

[0111] when the comparison result is that the vehicle speed is greater than or equal to the first vehicle speed threshold and less than the second vehicle speed threshold, distribute the total demand torque of the vehicle to the middle motor and the rear motor based on a preset proportion corresponding to the vehicle acceleration;

[0112] when the comparison result is that the vehicle speed is greater than or equal to the second vehicle speed threshold, equally distribute the total demand torque of the vehicle to the middle motor and the rear motor, wherein the first vehicle speed threshold is less than the second vehicle speed threshold.

[0113] Further, in an embodiment, the torque distribution module 30 is further configured to:

[0114] obtain the vehicle acceleration;

[0115] if the vehicle acceleration is positive, distribute the total demand torque of the vehicle to the middle motor and the rear motor according to a first preset proportion;

[0116] if the vehicle acceleration is negative, distribute the total demand torque of the vehicle to the middle motor and the rear motor according to a second preset proportion, wherein the first preset proportion and the second preset proportion are ratios of the torque to be distributed to the middle motor to the total demand torque of the vehicle, and the first preset proportion is less than the second preset proportion.

[0117] The functions of the modules in the above double electric drive axle vehicle torque distribution device correspond to the steps in the above double electric drive axle vehicle torque distribution method embodiment, and the functions and implementation processes will not be repeated here.

[0118] In a third aspect, an embodiment of the present application provides a double electric drive axle vehicle torque distribution device, which can be a personal computer (PC), a notebook computer, a server, or other device with data processing function.

[0119] Referring to Figure 6 , Figure 6 Figure 1 is a schematic diagram of a hardware structure of a dual-motor-drive-axle vehicle torque distribution device according to an embodiment of the present application. In the embodiment of the present application, the dual-motor-drive-axle vehicle torque distribution device can include a processor 1001 (for example, a central processing unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to realize the connection and communication among the components; the user interface 1003 can include a display and an input unit such as a keyboard; the network interface 1004 can optionally include a standard wired interface and a wireless interface (for example, a WI-FI interface); the memory 1005 can be a high-speed random access memory (RAM) or a stable memory (for example, a disk memory), and the memory 1005 can optionally be a storage device independent of the processor 1001. Those skilled in the art can understand that the hardware structure shown in Figure 1 does not constitute a limitation on the present application, and can include more or fewer components than those shown in the figure, or combine certain components, or arrange different components. Figure 6 The hardware structure shown in Figure 1 does not constitute a limitation on the present application, and can include more or fewer components than those shown in the figure, or combine certain components, or arrange different components.

[0120] Referring to Figure 6 , Figure 6 The memory 1005 as a computer storage medium in Figure 1 can include an operating system, a network communication module, a user interface module, and a dual-motor-drive-axle vehicle torque distribution program. The processor 1001 can call the dual-motor-drive-axle vehicle torque distribution program stored in the memory 1005 and execute the dual-motor-drive-axle vehicle torque distribution method provided by the embodiment of the present application.

[0121] In a fourth aspect, the embodiment of the present application further provides a readable storage medium.

[0122] The readable storage medium of the present application stores a dual-motor-drive-axle vehicle torque distribution program, wherein the dual-motor-drive-axle vehicle torque distribution program is executed by a processor to realize the steps of the dual-motor-drive-axle vehicle torque distribution method as described above.

[0123] The method realized by the execution of the dual-motor-drive-axle vehicle torque distribution program can refer to each embodiment of the dual-motor-drive-axle vehicle torque distribution method of the present application, which will not be described here again.

[0124] It should be noted that, in this document, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element preceded by "comprises... a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that comprises the recited element.

[0125] The above-mentioned embodiment numbers of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0126] From the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be realized by means of software and the necessary general hardware platform, of course, they can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as a ROM / RAM, a magnetic disk, or an optical disk) as described above, and includes a number of instructions for causing a terminal device to execute the methods described in the various embodiments of the present application.

[0127] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent flow transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied to other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A torque distribution method for a dual electric drive axle vehicle, characterized in that, The torque distribution method of the dual-motor-bridge vehicle comprises the following steps: determining a driving state of the vehicle based on an absolute value of a speed difference between the middle-bridge motor and the rear-bridge motor, a constant-speed cruise switch signal, an absolute value of a first wheel speed difference between the front wheels, and an absolute value of a second wheel speed difference between the rear wheels, including: detecting whether the vehicle meets a slip state condition, wherein the slip state condition is that the absolute value of the speed difference between the middle-bridge motor and the rear-bridge motor is greater than a speed threshold value, and the absolute values of the first wheel speed difference between the front wheels and the second wheel speed difference between the rear wheels are greater than a wheel speed threshold value; if yes, determining that the vehicle is in a slip state; comparing a judgment factor corresponding to the driving state with a threshold value corresponding to the driving state to obtain a comparison result; distributing torque of the middle-bridge motor and the rear-bridge motor based on a torque distribution strategy corresponding to the comparison result; when the driving state is the slip state, the step of comparing the judgment factor corresponding to the driving state with the threshold value corresponding to the driving state to obtain the comparison result comprises: comparing the absolute value of the speed difference with the speed threshold value to obtain the comparison result; the speed threshold value comprises a first speed threshold value, a second speed threshold value, and a third speed threshold value, and the step of distributing torque of the middle-bridge motor and the rear-bridge motor based on the torque distribution strategy corresponding to the comparison result comprises: when the comparison result is that the absolute value of the speed difference is greater than or equal to the first speed threshold value and less than the second speed threshold value, increasing torque of the motor with a smaller speed value between the middle-bridge motor and the rear-bridge motor; when the comparison result is that the absolute value of the speed difference is greater than or equal to the second speed threshold value and less than the third speed threshold value, increasing torque of the motor with a smaller speed value between the middle-bridge motor and the rear-bridge motor and decreasing torque of the motor with a greater speed value between the middle-bridge motor and the rear-bridge motor; when the comparison result is that the absolute value of the speed difference is greater than or equal to the third speed threshold value, decreasing torque of the middle-bridge motor and the rear-bridge motor, wherein the first speed threshold value is less than the second speed threshold value, and the second speed threshold value is less than the third speed threshold value.

2. The dual electric drive axle vehicle torque distribution method of claim 1, wherein, after the step of detecting whether the vehicle meets the slip state condition, the method further comprises: if not, detecting whether the vehicle is in a cruise state based on the constant-speed cruise switch signal; if the constant-speed cruise switch is opened, determining that the vehicle is in the cruise state. 3.The dual-motor-drive axle vehicle torque distribution method according to claim 2, wherein, when the driving state is the cruise state, the step of comparing the judgment factor corresponding to the driving state with the threshold value corresponding to the driving state to obtain the comparison result comprises: comparing a vehicle speed when the vehicle is in the cruise state with a vehicle speed threshold value to obtain the comparison result. 4.The dual-motor-drive axle vehicle torque distribution method according to claim 3, wherein, the vehicle speed threshold value comprises a first vehicle speed threshold value and a second vehicle speed threshold value, and the step of distributing torque of the middle-bridge motor and the rear-bridge motor based on the torque distribution strategy corresponding to the comparison result comprises: when the comparison result is that the vehicle speed is less than the first vehicle speed threshold value, distributing a total demand torque of the vehicle to the rear-bridge motor; when the comparison result is that the vehicle speed is greater than or equal to the first vehicle speed threshold value and less than the second vehicle speed threshold value, distributing the total demand torque of the vehicle to the middle-bridge motor and the rear-bridge motor based on a preset proportion corresponding to an acceleration of the vehicle; When the comparison result is that the vehicle speed is greater than or equal to a second vehicle speed threshold, the total demand torque of the vehicle is equally divided to the center motor and the rear motor, wherein the first vehicle speed threshold is less than the second vehicle speed threshold. 5.The dual-motor-drive axle vehicle torque distribution method according to claim 4, wherein, The step of distributing the total demand torque of the vehicle to the center motor and the rear motor based on the preset proportion corresponding to the vehicle acceleration comprises: obtaining the vehicle acceleration; if the vehicle acceleration is positive, distributing the total demand torque of the vehicle to the center motor and the rear motor according to a first preset proportion; if the vehicle acceleration is negative, distributing the total demand torque of the vehicle to the center motor and the rear motor according to a second preset proportion, wherein the first preset proportion and the second preset proportion are ratios of the torque to be distributed to the center motor to the total demand torque of the vehicle, and the first preset proportion is less than the second preset proportion.

6. A torque distribution device for a dual electric drive axle vehicle, characterized in that, The dual-motor drive axle vehicle torque distribution device comprises: a determination module configured to determine a driving state of the vehicle based on an absolute value of a speed difference between the center motor and the rear motor, a constant speed cruise switch signal, an absolute value of a first wheel speed difference between the front wheels, and an absolute value of a second wheel speed difference between the rear wheels, comprising: detecting whether the vehicle meets a slip state condition, wherein the slip state condition is that the absolute value of the speed difference between the center motor and the rear motor is greater than a speed threshold, and the absolute value of the first wheel speed difference between the front wheels and the absolute value of the second wheel speed difference between the rear wheels are greater than a wheel speed threshold; if so, it is determined that the vehicle is in a slip state; a comparison module configured to compare the absolute value of the speed difference with the speed threshold when the driving state is the slip state, to obtain a comparison result, wherein the speed threshold comprises a first speed threshold, a second speed threshold, and a third speed threshold; a torque distribution module configured to increase the torque of the motor with a smaller speed value among the center motor and the rear motor when the comparison result is that the absolute value of the speed difference is greater than or equal to the first speed threshold and less than the second speed threshold; when the comparison result is that the absolute value of the speed difference is greater than or equal to the second speed threshold and less than the third speed threshold, the torque of the motor with a smaller speed value among the center motor and the rear motor is increased, and the torque of the motor with a larger speed value among the center motor and the rear motor is decreased; when the comparison result is that the absolute value of the speed difference is greater than or equal to the third speed threshold, the torque of the center motor and the rear motor is decreased, wherein the first speed threshold is less than the second speed threshold, and the second speed threshold is less than the third speed threshold.

7. A dual electric drive vehicle torque distribution apparatus, characterized by, The dual-motor drive axle vehicle torque distribution device comprises a processor, a memory, and a dual-motor drive axle vehicle torque distribution program stored on the memory and executable by the processor, wherein when the dual-motor drive axle vehicle torque distribution program is executed by the processor, the steps of the dual-motor drive axle vehicle torque distribution method as claimed in any one of claims 1 to 5 are implemented.

8. A readable storage medium, characterized by, The readable storage medium stores a dual-motor drive axle vehicle torque distribution program, wherein when the dual-motor drive axle vehicle torque distribution program is executed by the processor, the steps of the dual-motor drive axle vehicle torque distribution method as claimed in any one of claims 1 to 5 are implemented.

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