Method, device and system for determining torque of drive motor of four-wheel independent vehicle

Abstract

The application provides a method, device and system for determining torque of a driving motor of a four-wheel independent vehicle, which comprises the following steps: determining a maximum set torque of the motor according to a current rotating speed, and determining a maximum total power of the motor according to a current state of charge; determining a maximum power of each driving motor according to all current axle loads and the maximum total power of the motor, and determining a maximum real torque of each driving motor according to all the maximum powers and all the current rotating speeds; determining a final motor torque of each driving motor according to the maximum real torque and a pedal opening degree, or determining the final motor torque of each driving motor according to the maximum set torque and the pedal opening degree. The final motor torque is higher in efficiency than that of the prior art, thereby solving the problem that the prior art causes low running efficiency of the four-wheel independent driving electric explosion-proof trackless rubber-tyred vehicle due to the torque distribution of the driving motor.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and more specifically, to a method, apparatus, computer-readable storage medium, and system for determining the torque of a drive motor of a four-wheeled independent vehicle. Background Technology

[0002] The four-wheel independent drive electric explosion-proof trackless rubber-tired vehicle serves as an auxiliary transportation tool in mining areas, solving the problems of high pollution, high fuel consumption, high noise, short lifespan, and difficult maintenance associated with traditional diesel vehicles. The four-wheel independent vehicle is a vehicle in which each tire is equipped with a separate drive motor for propulsion.

[0003] The existing solutions for torque distribution control of drive motors in four-wheel independent drive electric explosion-proof trackless rubber-tired vehicles have the following main problems: First, unstable drive control leads to poor vehicle handling; second, unreasonable torque distribution among the four wheels results in insufficient vehicle driving capability, increased energy consumption, and reduced range. Summary of the Invention

[0004] The main objective of this application is to provide a method, apparatus, computer-readable storage medium, and system for determining the torque of the drive motor of a four-wheeled independent vehicle, so as to at least solve the problem that the torque distribution of the drive motor of the four-wheeled independent electric explosion-proof trackless rubber-tired vehicle in the prior art results in low vehicle operating efficiency.

[0005] To achieve the above objectives, according to one aspect of this application, a method for determining the torque of a drive motor of a four-wheeled independent vehicle is provided. The method includes: acquiring the axle load and rotational speed of each tire of the four-wheeled independent vehicle at a current moment, and the state of charge of each power supply device of the four-wheeled independent vehicle at the current moment, to obtain multiple current axle loads, multiple current rotational speeds, and multiple current states of charge, wherein the axle load is used to characterize the pressure borne by the tire along the direction of gravity, and the power supply device is used to supply power to the drive motor driving each tire; determining the maximum set torque of the motor based on the current rotational speed, and determining the maximum total power of the motor based on the current state of charge, wherein the maximum set torque of the motor is a set value of the maximum torque of the drive motor when the rotational speed of the tire is the current rotational speed, and the maximum total power of the motor is a set value of the maximum torque of the drive motor when the rotational speed of the tire is the current rotational speed, and the maximum total power of the motor is a set value of the maximum torque of the drive motor when the rotational speed of the tire is the current rotational speed, and the maximum total power of the motor is a set value of the maximum torque of the drive motor when the rotational speed of the power supply device is the current state of charge. The sum of the maximum power values ​​of all drive motors under the current state of charge; the maximum power of each drive motor is determined based on all current axle loads and the maximum total power of the motors, and the maximum true torque of each drive motor is determined based on all maximum motor power and all current speeds, wherein the maximum motor power is the maximum power value of the drive motor at the current moment, and the maximum true torque is the true value of the maximum torque of the drive motor when the tire speed is the current speed; the final motor torque of each drive motor is determined based on the maximum true torque and the pedal opening, or, the final motor torque of each drive motor is determined based on the maximum set torque and the pedal opening, wherein the pedal opening is the opening of the accelerator pedal at the current moment.

[0006] Optionally, before obtaining the axle load, rotational speed, and state of charge of the power supply of the four-wheeled independent vehicle at the current moment, and thus obtaining multiple current axle loads, multiple current rotational speeds, and multiple current states of charge, the method further includes: storing a first mapping relationship in a database, wherein the first mapping relationship is a mapping relationship between the rotational speed and the set value of the maximum torque;

[0007] Determining the maximum set torque of the motor based on the current rotational speed includes: determining the set value of the maximum torque corresponding to the current rotational speed from the first mapping relationship based on the first mapping relationship and the current rotational speed; and determining the maximum set torque of the motor as the set value of the maximum torque corresponding to the current rotational speed.

[0008] Optionally, before obtaining the axle load, rotational speed, and state of charge of each tire of the four-wheeled independent vehicle at the current moment, and the state of charge of the power supply device of the four-wheeled independent vehicle at the current moment, to obtain multiple current axle loads, multiple current rotational speeds, and multiple current states of charge, the method further includes: storing a second mapping relationship in a database, wherein the second mapping relationship is a mapping relationship between the state of charge and the sum of the maximum values ​​of the power of all the drive motors;

[0009] Determining the maximum total power of the motor based on the current state of charge includes: determining, based on the second mapping relationship and the current state of charge, the sum of the maximum power values ​​of all the drive motors corresponding to the current state of charge from the second mapping relationship; and determining the maximum total power of the motor as the sum of the maximum power values ​​of all the drive motors corresponding to the current speed.

[0010] Optionally, the maximum power of each drive motor is determined based on all the current shaft loads and the maximum total power of the motors, including:

[0011] The maximum power of each drive motor is determined based on Pbmaxi = (Lic / (L1c+L2c+L3c+L4c)) × Pbmax.

[0012] Wherein, Pbmaxi is the maximum power of the i-th drive motor, Lic is the current axle load of the i-th tire, L1c, L2c, L3c, and L4c are the current axle loads of the first tire, the second tire, the third tire, and the fourth tire, respectively, and Pbmax is the maximum total power of the motor.

[0013] Optionally, determining the maximum true torque of each drive motor based on the maximum power of all the motors and the current speed of all the motors includes:

[0014] The maximum true torque of each drive motor is determined based on Tmaxi = (Pbmaxi × S) / Vi.

[0015] Wherein, Tmaxi is the maximum true torque of the i-th drive motor, Pbmaxi is the maximum power of the i-th drive motor, Vi is the current speed of the i-th tire, and S is the conversion coefficient between torque, speed and power.

[0016] Optionally, determining the final motor torque of each drive motor based on the maximum actual torque and pedal opening includes:

[0017] Based on Ti = Tmaxi × Kp, the final motor torque of each drive motor is determined.

[0018] Where Ti is the final motor torque of the i-th drive motor, Tmaxi is the maximum actual torque of the i-th drive motor, and Kp is the pedal opening.

[0019] Optionally, determining the final motor torque of each drive motor based on the maximum actual torque and the pedal opening, or determining the final motor torque of each drive motor based on the maximum set torque and the pedal opening, includes: determining the final motor torque of each drive motor based on the maximum actual torque and the pedal opening when the maximum actual torque is less than or equal to the maximum set torque of the motor; and determining the final motor torque of each drive motor based on the maximum set torque and the pedal opening when the maximum actual torque is greater than the maximum set torque of the motor.

[0020] According to another aspect of this application, a device for determining the torque of a drive motor of a four-wheeled independent vehicle is provided. The device includes an acquisition unit, a first determination unit, a second determination unit, and a first processing unit.

[0021] The acquisition unit is used to acquire the axle load, rotational speed and the state of charge of each tire of the four-wheeled independent vehicle at the current moment, and the state of charge of each power supply device of the four-wheeled independent vehicle at the current moment, to obtain multiple current axle loads, multiple current rotational speeds and multiple current states of charge, wherein the axle load is used to characterize the pressure borne by the tire along the direction of gravity, and the power supply device is used to supply power to the drive motor that drives each tire.

[0022] The first determining unit is configured to determine the maximum set torque of the motor based on the current rotational speed and to determine the maximum total power of the motor based on the current state of charge. The maximum set torque of the motor is a set value of the maximum torque of the drive motor when the rotational speed of the tire is the current rotational speed, and the maximum total power of the motor is the sum of the maximum power values ​​of all the drive motors when the state of charge of the power supply device is the current state of charge.

[0023] The second determining unit is used to determine the maximum power of each drive motor based on all the current axle loads and the maximum total power of the motors, and to determine the maximum true torque of each drive motor based on all the maximum power of the motors and all the current speeds, wherein the maximum power of the motor is the maximum power of the drive motor at the current moment, and the maximum true torque is the true value of the maximum torque of the drive motor when the tire speed is the current speed;

[0024] The first processing unit is configured to determine the final motor torque of each of the drive motors based on the maximum actual torque and the pedal opening, or to determine the final motor torque of each of the drive motors based on the maximum set torque and the pedal opening, wherein the pedal opening is the opening of the accelerator pedal at the current moment.

[0025] According to another aspect of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to execute any of the methods for determining the torque of the drive motor of a four-wheeled independent vehicle.

[0026] According to another aspect of this application, a system for determining the torque of a drive motor of a four-wheeled independent vehicle is provided. The system includes one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include a method for performing a method for determining the torque of a drive motor of any of the four-wheeled independent vehicles described above.

[0027] By applying the technical solution of this application, the load-bearing capacity of each tire, the state of charge of the power supply equipment, and the rotational speed of each tire are considered as factors in evaluating the torque. This results in a higher final motor torque compared to existing solutions for controlling vehicle operation efficiency. This solves the problem of low vehicle operation efficiency caused by the torque distribution of the drive motor in existing solutions for four-wheel independent drive electric explosion-proof trackless rubber-tired vehicles. Attached Figure Description

[0028] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0029] Figure 1 A hardware structure block diagram of a mobile terminal for determining the torque of a drive motor of a four-wheeled independent vehicle, according to an embodiment of this application, is shown.

[0030] Figure 2 A flowchart illustrating a method for determining the torque of a drive motor in a four-wheeled independent vehicle according to an embodiment of this application is shown.

[0031] Figure 3 A schematic diagram illustrating the principle of a method for determining the torque of a drive motor in a four-wheeled independent vehicle is shown.

[0032] Figure 4 A flowchart illustrating another method for determining the torque of the drive motor in a four-wheeled independent vehicle is shown.

[0033] Figure 5 A structural block diagram of a device for determining the torque of a drive motor of a four-wheeled independent vehicle according to an embodiment of this application is shown. Detailed Implementation

[0034] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0035] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0036] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0037] As described in the background section, existing solutions for torque distribution control of drive motors in four-wheel independently driven electric explosion-proof trackless rubber-tired vehicles mainly suffer from the following problems: First, unstable drive control leads to poor vehicle handling; second, unreasonable torque distribution among the four wheels results in insufficient vehicle driving capability, increased energy consumption, and reduced range. To address the problem of low vehicle operating efficiency caused by torque distribution of drive motors in four-wheel independently driven electric explosion-proof trackless rubber-tired vehicles in existing solutions, embodiments of this application provide a method, apparatus, computer-readable storage medium, and system for determining the torque of drive motors in four-wheel independent vehicles.

[0038] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0039] The methods and embodiments provided in this application can be executed on a mobile terminal, computer terminal, or similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal for a method of determining the torque of a drive motor in a four-wheeled independent vehicle according to an embodiment of the present invention. Figure 1 As shown, a mobile terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0040] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the method for determining the torque of the drive motor of a four-wheeled independent vehicle in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the aforementioned networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0041] This embodiment provides a method for determining the torque of a drive motor of a four-wheeled independent vehicle operating on a mobile terminal, computer terminal, or similar computing device. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0042] Figure 2 This is a flowchart illustrating a method for determining the torque of a drive motor in a four-wheeled independent vehicle according to an embodiment of this application. Figure 2 As shown, the method includes the following steps:

[0043] Step S201: Obtain the axle load and rotational speed of each tire of the four-wheeled independent vehicle at the current moment, and the state of charge of each power supply device of the four-wheeled independent vehicle at the current moment, to obtain multiple current axle loads, multiple current rotational speeds, and multiple current states of charge. The axle load is used to characterize the pressure borne by the tire along the direction of gravity, and the power supply device is used to supply power to the drive motor that drives each tire.

[0044] The power supply equipment can be a storage battery or a car alternator; the axle load is measured by a gravity sensor; the rotational speed is measured by a speed sensor; the state of charge is the ratio of the remaining charge of the power supply equipment at the current moment to the total charge of the power supply equipment when fully charged;

[0045] Specifically, it is necessary to obtain the axle load and speed of the four tires at the current moment, as well as the state of charge (SOC) of the four power devices at the current moment. In order to take into account the maximum power of the drive motors under different SOC states of the power devices, the SOC, along with the speed and axle load of each tire, can make the subsequent torque control of the vehicle operation more reasonable and avoid situations where the vehicle cannot be driven.

[0046] Step S202: Determine the maximum set torque of the motor based on the current rotational speed and determine the maximum total power of the motor based on the current state of charge. The maximum set torque of the motor is the set value of the maximum torque of the drive motor when the rotational speed of the tire is the current rotational speed, and the maximum total power of the motor is the sum of the maximum power of all the drive motors when the state of charge of the power supply device is the current state of charge.

[0047] The basis for setting the maximum torque value is as follows: on the one hand, the traction force required by the vehicle is constant, so the maximum torque requirement for the motor is also constant; on the other hand, the output power that the vehicle power system can provide is constant, so the maximum output power of the motor is also constant, and the maximum torque output by the motor is also constant under a certain motor output power and speed.

[0048] Before step S201, that is, before obtaining the axle load, rotation speed and power state of the four independent vehicles at the current moment, and the power supply equipment of the four independent vehicles at the current moment, and obtaining multiple current axle loads, multiple current rotation speeds and multiple current power states, the above method further includes: storing a first mapping relationship in a database, wherein the first mapping relationship is a mapping relationship between the rotation speed and the set value of the maximum torque.

[0049] The first mapping relationship can be represented by a mapping table or by a graph. The vertical axis of the graph can be the rotational speed, and the horizontal axis can be the maximum torque.

[0050] Specifically, by storing the mapping relationship between the set values ​​of rotational speed and maximum torque in the database, it is convenient to determine the set value of the maximum torque corresponding to the current rotational speed from the first mapping relationship later.

[0051] The step S202 of determining the maximum set torque of the motor based on the current speed includes: determining the set value of the maximum torque corresponding to the current speed from the first mapping relationship based on the first mapping relationship; and determining the maximum set torque of the motor as the set value of the maximum torque corresponding to the current speed.

[0052] Specifically, the maximum torque setting value corresponding to the current rotational speed is determined from the first mapping relationship, thereby obtaining the maximum torque setting value of the drive motor that drives the tire when the tire is at the current rotational speed. This facilitates the subsequent consideration of the maximum torque setting value of the drive motor. By taking the maximum torque setting value of the drive motor into consideration, the rationality of the final torque obtained is improved, and in particular, the situation where the vehicle cannot be driven is avoided.

[0053] Before step S201, that is, before obtaining the axle load, speed and power of each tire of the four-wheeled independent vehicle at the current moment and the state of charge of the power supply equipment of the four-wheeled independent vehicle at the current moment, and obtaining multiple current axle loads, multiple current speeds and multiple current states of charge, the above method further includes: storing a second mapping relationship in a database, wherein the second mapping relationship is a mapping relationship between the state of charge and the sum of the maximum values ​​of the power of all the drive motors;

[0054] Specifically, the mapping relationship between the state of charge and the sum of the maximum power of all the aforementioned drive motors is stored in the database, which facilitates the subsequent determination of the sum of the maximum power of all the aforementioned drive motors corresponding to the current state of charge from the aforementioned second mapping relationship; wherein, the second mapping relationship can be represented by a mapping table or by a curve graph, the vertical axis of the curve graph can be the state of charge, and the horizontal axis can be the sum of the maximum power of the drive motors.

[0055] The step S202 of determining the maximum total power of the motor based on the current state of charge includes: determining the sum of the maximum power values ​​of all the drive motors corresponding to the current state of charge from the second mapping relationship based on the second mapping relationship; and determining the maximum total power of the motor as the sum of the maximum power values ​​of all the drive motors corresponding to the current speed.

[0056] Specifically, by determining the sum of the maximum power values ​​of all the drive motors corresponding to the current state of charge from the second mapping relationship, the sum of the maximum power values ​​of all drive motors when the charge state of the power supply device is the current charge state is determined. This facilitates the subsequent consideration of the sum of the maximum power values ​​of all drive motors, and makes it easier to allocate the maximum power of each drive motor according to the axle load. This makes the power allocation of the drive motors more reasonable, and allows different motor power to be used to drive the corresponding drive motor according to the axle load of each tire when driving the vehicle, ensuring successful vehicle operation.

[0057] Step S203: Based on all the above-mentioned current axle loads and the above-mentioned maximum total power of the motors, determine the maximum power of each of the above-mentioned drive motors, and determine the maximum true torque of each of the above-mentioned drive motors based on all the above-mentioned maximum power and all the above-mentioned current speeds, wherein the above-mentioned maximum power of the motors is the maximum value of the power of the drive motors at the above-mentioned current time, and the above-mentioned maximum true torque is the true value of the maximum torque of the drive motors when the speed of the tires is the above-mentioned current speed;

[0058] Specifically, by determining the maximum power of each drive motor based on all the current axle loads and the maximum total power of the motors, it is easier to determine the maximum true torque of each drive motor based on all the maximum power of the motors and all the current speeds. Incorporating the maximum power and current speed into the determination of the maximum true torque of the drive motors improves the efficiency of subsequent vehicle control. In addition, after the vehicle starts, the gravity sensor monitors the axle load in real time. To avoid control stability issues caused by fluctuations in axle load measurements, the measured values ​​of the four tires (i.e., the current axle load) are the average of all measured values ​​over a 1-minute period.

[0059] By taking into account both the maximum actual torque and the maximum set torque of the drive motor, we can ensure that the more reasonable one of the maximum actual torque and the maximum set torque is used as the basis for obtaining the final torque, thus improving the rationality of the obtained final torque.

[0060] Step S202, determining the maximum power of each of the aforementioned drive motors based on all the current shaft loads and the maximum total power of the aforementioned motors, includes:

[0061] Based on Pbmaxi = (Lic / (L1c+L2c+L3c+L4c)) × Pbmax, determine the maximum power of each of the aforementioned drive motors.

[0062] Wherein, Pbmaxi is the maximum power of the i-th drive motor, Lic is the current axle load of the i-th tire, L1c, L2c, L3c, and L4c are the current axle loads of the first tire, the second tire, the third tire, and the fourth tire, respectively, and Pbmax is the maximum total power of the motor.

[0063] Specifically, to obtain the maximum power of the drive motor corresponding to the first tire, Pbmaxi is modified to Pbmax1, where Pbmax1 is the maximum power of the drive motor corresponding to the first tire. Lic is modified to L1c, where L1c is the current axle load of the first tire. The axle load is given by the weight of the vehicle and the weight of the cargo. By distributing different maximum power to the drive motors based on the different axle loads of each tire, the efficiency of subsequent vehicle control is improved.

[0064] Step S202, determining the maximum actual torque of each of the aforementioned drive motors based on the maximum power of all the aforementioned motors and the current speed of all the aforementioned motors, includes:

[0065] Based on Tmaxi = (Pbmaxi × S) / Vi, determine the maximum true torque of each of the aforementioned drive motors.

[0066] Where Tmaxi is the maximum actual torque of the i-th drive motor, Pbmaxi is the maximum power of the i-th drive motor, Vi is the current speed of the i-th tire, and S is the conversion coefficient between torque, speed and power.

[0067] Specifically, by taking the maximum power of the motor and the current vehicle speed as considerations for obtaining the maximum true torque, the efficiency of subsequent vehicle control is improved. This is because by taking the maximum power of the motor and the current vehicle speed as considerations for obtaining the maximum true torque, each tire can be driven with a different torque according to the current speed, thereby ensuring successful vehicle operation.

[0068] Step S204: Determine the final motor torque of each of the drive motors based on the maximum actual torque and the pedal opening, or determine the final motor torque of each of the drive motors based on the maximum set torque and the pedal opening, wherein the pedal opening is the opening of the accelerator pedal at the current moment.

[0069] Through the above embodiments, by considering the load-bearing capacity of each tire, the state of charge of the power supply equipment, and the rotational speed of each tire as factors in evaluating torque, the final motor torque is more efficient in controlling vehicle operation compared to existing solutions. This solves the problem of low vehicle operating efficiency caused by the torque distribution of the drive motor in existing solutions for four-wheel independent drive electric explosion-proof trackless rubber-tired vehicles.

[0070] Step S204, which involves determining the final motor torque of each drive motor based on the maximum actual torque and pedal opening, includes:

[0071] Based on Ti = Tmaxi × Kp, determine the final motor torque of each of the aforementioned drive motors.

[0072] Where Ti is the final motor torque of the i-th drive motor, Tmaxi is the maximum actual torque of the i-th drive motor, and Kp is the pedal opening.

[0073] Specifically, in order to achieve smooth processing by adjusting the torque output of the drive motor by the vehicle controller with a gradual slope according to a certain time constant, the pedal opening is taken into consideration to ensure that the vehicle runs smoothly during the drive control process.

[0074] Step S204, determining the final motor torque of each of the drive motors based on the maximum actual torque and pedal opening, or determining the final motor torque of each of the drive motors based on the maximum set torque and pedal opening, includes: determining the final motor torque of each of the drive motors based on the maximum actual torque and pedal opening when the maximum actual torque is less than or equal to the maximum set torque of the motor; and determining the final motor torque of each of the drive motors based on the maximum set torque and pedal opening when the maximum actual torque is greater than the maximum set torque of the motor.

[0075] Specifically, the motor outputs the minimum torque required for the current vehicle operation within the set power range, which ensures that the input and output power of the motor drive system does not exceed the limit, and further ensures that the vehicle power system operates in an optimized discharge state, thereby improving the vehicle's driving range.

[0076] The control principle of this application is as follows: Figure 3 As shown, it will not be elaborated further here.

[0077] To enable those skilled in the art to better understand the technical solution of this application, the implementation process of the method for determining the torque of the drive motor of a four-wheeled independent vehicle of this application will be described in detail below with reference to specific embodiments.

[0078] This embodiment relates to a specific method for determining the torque of the drive motor of a four-wheeled independent vehicle, such as... Figure 4 As shown, it includes the following steps:

[0079] Step S1: Obtain the axle load and rotational speed of each tire of the four-wheeled independent vehicle at the current moment, and the state of charge of each power supply device of the four-wheeled independent vehicle at the current moment, to obtain multiple current axle loads, multiple current rotational speeds, and multiple current states of charge. The axle load is used to characterize the pressure borne by the tire along the direction of gravity, and the power supply device is used to supply power to the drive motor that drives each tire.

[0080] Step S2: Determine the maximum set torque of the motor based on the current rotational speed and determine the maximum total power of the motor based on the current state of charge. The maximum set torque of the motor is the set value of the maximum torque of the drive motor when the rotational speed of the tire is the current rotational speed, and the maximum total power of the motor is the sum of the maximum power of all the drive motors when the state of charge of the power supply device is the current state of charge.

[0081] Specifically, the first mapping relationship is stored in the database, and the first mapping relationship is the mapping relationship between the speed and the set value of the maximum torque; based on the first mapping relationship and the current speed, the set value of the maximum torque corresponding to the current speed is determined from the first mapping relationship; the maximum set torque of the motor is determined to be the set value of the maximum torque corresponding to the current speed.

[0082] The second mapping relationship is stored in the database. The second mapping relationship is a mapping relationship between the state of charge and the sum of the maximum power of all the drive motors. Based on the second mapping relationship and the current state of charge, the sum of the maximum power of all the drive motors corresponding to the current state of charge is determined from the second mapping relationship. The maximum total power of the motor is determined to be the sum of the maximum power of all the drive motors corresponding to the current speed.

[0083] Step S3: Based on all the above current axle loads and the above maximum total power of the motors, determine the maximum power of each of the above drive motors, and based on all the above maximum power of the motors and all the above current speeds, determine the maximum true torque of each of the above drive motors, wherein the above maximum power of the motors is the maximum power of the drive motors at the above current moment, and the above maximum true torque is the true value of the maximum torque of the drive motors when the speed of the tires is the above current speed;

[0084] Specifically, the maximum power of each of the aforementioned drive motors is determined according to Pbmaxi = (Lic / (L1c+L2c+L3c+L4c)) × Pbmax.

[0085] Wherein, Pbmaxi is the maximum power of the i-th drive motor, Lic is the current axle load of the i-th tire, L1c, L2c, L3c, and L4c are the current axle loads of the first tire, the second tire, the third tire, and the fourth tire, respectively, and Pbmax is the maximum total power of the motor.

[0086] Based on Tmaxi = (Pbmaxi × S) / Vi, determine the maximum true torque of each of the aforementioned drive motors.

[0087] Where Tmaxi is the maximum true torque of the i-th drive motor, Pbmaxi is the maximum power of the i-th drive motor, Vi is the current speed of the i-th tire, and S is the conversion coefficient between torque, speed and power.

[0088] Step S4: When the maximum actual torque is less than or equal to the maximum set torque of the motor, determine the final motor torque of each drive motor based on the maximum actual torque and the pedal opening; when the maximum actual torque is greater than the maximum set torque of the motor, determine the final motor torque of each drive motor based on the maximum set torque and the pedal opening.

[0089] Specifically, the final motor torque of each of the aforementioned drive motors is determined based on Ti = Tmaxi × Kp.

[0090] Where Ti is the final motor torque of the i-th drive motor, Tmaxi is the maximum actual torque of the i-th drive motor, and Kp is the pedal opening.

[0091] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0092] This application also provides a device for determining the torque of a drive motor in a four-wheeled independent vehicle. It should be noted that this device can be used to execute the method for determining the torque of a drive motor in a four-wheeled independent vehicle provided in this application. This device is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0093] The following describes the torque determination device for the drive motor of a four-wheeled independent vehicle provided in the embodiments of this application.

[0094] Figure 5 This is a structural block diagram of a device for determining the torque of a drive motor of a four-wheeled independent vehicle, according to an embodiment of this application. Figure 5 As shown, the device includes an acquisition unit 51, a first determination unit 52, a second determination unit 53, and a first processing unit 54;

[0095] The acquisition unit 51 is used to acquire the axle load and rotation speed of each tire of the four-wheel independent vehicle at the current moment, as well as the state of charge of each power supply device of the four-wheel independent vehicle at the current moment, to obtain multiple current axle loads, multiple current rotation speeds, and multiple current states of charge. The axle load is used to characterize the pressure borne by the tire along the direction of gravity, and the power supply device is used to supply power to the drive motor that drives each tire.

[0096] The first determining unit 52 is used to determine the maximum set torque of the motor based on the current rotation speed and to determine the maximum total power of the motor based on the current state of charge. The maximum set torque of the motor is the set value of the maximum torque of the drive motor when the rotation speed of the tire is the current rotation speed, and the maximum total power of the motor is the sum of the maximum power of all the drive motors when the state of charge of the power supply device is the current state of charge.

[0097] The second determining unit 53 is used to determine the maximum power of each of the drive motors based on all the current axle loads and the maximum total power of the motors, and to determine the maximum true torque of each of the drive motors based on all the maximum power of the motors and all the current speeds, wherein the maximum power of the motor is the maximum power of the drive motor at the current moment, and the maximum true torque is the true value of the maximum torque of the drive motor when the speed of the tire is the current speed.

[0098] The first processing unit 54 is used to determine the final motor torque of each of the drive motors based on the maximum actual torque and the pedal opening, or to determine the final motor torque of each of the drive motors based on the maximum set torque and the pedal opening, wherein the pedal opening is the opening of the accelerator pedal at the current moment.

[0099] In the aforementioned device, by considering the load-bearing capacity of each tire, the state of charge of the power supply equipment, and the rotational speed of each tire as factors in evaluating the torque, the final motor torque is higher than that of existing solutions in controlling vehicle operation efficiency. This solves the problem of low vehicle operation efficiency caused by the torque distribution of the drive motor in existing solutions for four-wheel independent drive electric explosion-proof trackless rubber-tired vehicles.

[0100] In one embodiment of this application, the device further includes a second processing unit. Before obtaining the axle load, rotational speed, and state of charge of the power supply equipment of the four-wheeled independent vehicle at the current moment, and obtaining multiple current axle loads, multiple current rotational speeds, and multiple current states of charge, the second processing unit is used to store a first mapping relationship in a database. The first mapping relationship is a mapping relationship between the rotational speed and the set value of the maximum torque.

[0101] The first determining unit includes a first determining module and a second determining module. The first determining module is used to determine the set value of the maximum torque corresponding to the current speed from the first mapping relationship based on the first mapping relationship and the current speed. The second determining module is used to determine that the maximum set torque of the motor is the set value of the maximum torque corresponding to the current speed.

[0102] In one embodiment of this application, the device further includes a third processing unit. Before obtaining the axle load, rotational speed, and state of charge of each tire of the four-wheeled independent vehicle at the current moment, and the power supply device of the four-wheeled independent vehicle at the current moment, and obtaining multiple current axle loads, multiple current rotational speeds, and multiple current states of charge, the third processing unit is used to store a second mapping relationship in a database. The second mapping relationship is a mapping relationship between the state of charge and the sum of the maximum values ​​of the power of all the drive motors.

[0103] The first determining unit includes a third determining module and a fourth determining module. Based on the second mapping relationship and the current state of charge, it determines the sum of the maximum power values ​​of all the drive motors corresponding to the current state of charge from the second mapping relationship; and determines the maximum total power of the motors as the sum of the maximum power values ​​of all the drive motors corresponding to the current speed.

[0104] In one embodiment of this application, the second determining unit includes a fifth determining module.

[0105] The fifth determining module is used to determine the maximum power of each of the aforementioned drive motors based on Pbmax = (Lic / (L1c+L2c+L3c+L4c)) × Pbmax.

[0106] Wherein, Pbmaxi is the maximum power of the i-th drive motor, Lic is the current axle load of the i-th tire, L1c, L2c, L3c, and L4c are the current axle loads of the first tire, the second tire, the third tire, and the fourth tire, respectively, and Pbmax is the maximum total power of the motor.

[0107] In one embodiment of this application, the second determining unit includes a sixth determining module.

[0108] The sixth determining module is used to determine the maximum true torque of each of the aforementioned drive motors based on Tmaxi = (Pbmaxi × S) / Vi.

[0109] Where Tmaxi is the maximum actual torque of the i-th drive motor, Pbmaxi is the maximum power of the i-th drive motor, Vi is the current speed of the i-th tire, and S is the conversion coefficient between torque, speed and power.

[0110] In one embodiment of this application, the first processing unit includes a seventh determining module;

[0111] The first processing unit includes a seventh determining module for determining the final motor torque of each of the aforementioned drive motors based on Ti = Tmaxi × Kp.

[0112] Where Ti is the final motor torque of the i-th drive motor, Tmaxi is the maximum actual torque of the i-th drive motor, and Kp is the pedal opening.

[0113] In one embodiment of this application, the first processing unit includes a first processing module and a second processing module. The first processing module is used to determine the final motor torque of each of the drive motors based on the maximum actual torque and the pedal opening when the maximum actual torque is less than or equal to the maximum set torque of the motor. The second processing module is used to determine the final motor torque of each of the drive motors based on the maximum set torque and the pedal opening when the maximum actual torque is greater than the maximum set torque of the motor.

[0114] The torque determination device for the drive motor of the aforementioned four-wheeled independent vehicle includes a processor and a memory. The acquisition unit, first determination unit, second determination unit, and first processing unit are all stored as program units in the memory. The processor executes these program units stored in the memory to achieve the corresponding functions. All of the above modules reside in the same processor; alternatively, the modules may be located in different processors in any combination.

[0115] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured, and adjusting kernel parameters can address the issue of low vehicle operating efficiency caused by the torque distribution of the drive motors in existing solutions for four-wheel independently driven electric explosion-proof trackless rubber-tired vehicles.

[0116] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0117] This invention provides a computer-readable storage medium including a stored program, wherein, when the program is executed, a method for determining the torque of the drive motor of the four-wheeled independent vehicle is controlled by the device containing the computer-readable storage medium.

[0118] This invention provides a processor for running a program, wherein the program executes a method for determining the torque of the drive motor of the four-wheeled independent vehicle.

[0119] This invention provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs at least the following steps: acquiring the axle load and rotational speed of each tire of a four-wheeled independent vehicle at the current moment, and the state of charge of each power supply device of the four-wheeled independent vehicle at the current moment, obtaining multiple current axle loads, multiple current rotational speeds, and multiple current states of charge. The axle load is used to characterize the pressure borne by the tire along the direction of gravity, and the power supply device is used to supply power to the drive motors driving each tire; determining the maximum set torque of the motor based on the current rotational speed, and determining the maximum total power of the motor based on the current state of charge. The maximum set torque of the motor is a set value of the maximum torque of the drive motor when the rotational speed of the tire is the current rotational speed, and the maximum total power of the motor is... The state of charge (SBC) of the power supply device is the sum of the maximum power values ​​of all the drive motors under the current SBC. Based on all the current axle loads and the maximum total power of the motors, the maximum power of each drive motor is determined. Then, based on all the maximum power of the motors and all the current rotational speeds, the maximum true torque of each drive motor is determined. The maximum power of the motor is the maximum power value of the drive motor at the current moment, and the maximum true torque is the true value of the maximum torque of the drive motor when the tire rotational speed is the current rotational speed. The final motor torque of each drive motor is determined based on the maximum true torque and the pedal opening, or, based on the maximum set torque and the pedal opening, the final motor torque of each drive motor is determined based on the pedal opening, where the pedal opening is the opening of the accelerator pedal at the current moment. The device in this document can be a server, PC, PAD, mobile phone, etc.

[0120] This application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having at least the following method steps: acquiring the axle load, rotational speed, and state of charge (SOC) of each tire of a four-wheeled independent vehicle at the current moment, and the SOC of each power supply device of the four-wheeled independent vehicle at the current moment, obtaining multiple current axle loads, multiple current rotational speeds, and multiple current SOCs, wherein the axle loads are used to characterize the pressure borne by the tires along the direction of gravity, and the power supply devices are used to supply power to the drive motors driving each of the tires; determining the maximum set torque of the motors based on the current rotational speeds, and determining the maximum total power of the motors based on the current SOCs, wherein the maximum set torque of the motors is the set value of the maximum torque of the drive motors when the rotational speed of the tires is the current rotational speed, and the maximum total power ... power supply devices is the current rotational speed. The sum of the maximum power values ​​of all the drive motors under the current state of charge; the maximum power of each drive motor is determined based on all the current axle loads and the maximum total power of the motors, and the maximum true torque of each drive motor is determined based on all the maximum power of the motors and all the current speeds, wherein the maximum power of the motor is the maximum power of the drive motor at the current moment, and the maximum true torque is the true value of the maximum torque of the drive motor when the tire speed is the current speed; the final motor torque of each drive motor is determined based on the maximum true torque and the pedal opening, or the final motor torque of each drive motor is determined based on the maximum set torque and the pedal opening, wherein the pedal opening is the opening of the accelerator pedal at the current moment.

[0121] This application also provides a system for determining the torque of a drive motor in a four-wheeled independent vehicle. The system includes one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors. The one or more programs include methods for executing any of the aforementioned methods for determining the torque of a drive motor in a four-wheeled independent vehicle. By considering the load on each tire, the state of charge of the power supply, and the rotational speed of each tire as factors in torque evaluation, the final motor torque achieves higher vehicle operating efficiency compared to existing solutions. This solves the problem of low vehicle operating efficiency caused by the torque distribution of the drive motor in existing solutions for four-wheeled independent drive electric explosion-proof trackless rubber-tired vehicles.

[0122] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0123] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0124] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0125] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0126] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0127] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0128] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0129] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0130] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0131] As can be seen from the above description, the embodiments of this application achieve the following technical effects:

[0132] 1) The method for determining the torque of the drive motor of the four-wheeled independent vehicle in this application takes into account the load of each tire, the state of charge of the power supply equipment, and the rotation speed of each tire as factors for evaluating the torque. This makes the final motor torque more efficient in controlling vehicle operation compared to existing solutions, thereby solving the problem of low vehicle operating efficiency caused by the torque distribution of the drive motor of the four-wheeled independent drive electric explosion-proof trackless rubber-tired vehicle in existing solutions.

[0133] 2) The torque determination device for the drive motor of the four-wheeled independent vehicle of this application takes into account the load of each tire, the state of charge of the power supply equipment, and the rotation speed of each tire as factors for evaluating the torque. This makes the final motor torque more efficient than the existing solution for controlling vehicle operation, thereby solving the problem that the torque distribution of the drive motor of the four-wheeled independent electric explosion-proof trackless rubber-tired vehicle in the existing solution results in low vehicle operation efficiency.

[0134] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for determining the torque of a drive motor in a four-wheeled independent vehicle, characterized in that, include: The axle load, rotational speed, and state of charge of each tire of the four-wheeled independent vehicle at the current moment are obtained, and the state of charge of each power device of the four-wheeled independent vehicle at the current moment are obtained to obtain multiple current axle loads, multiple current rotational speeds, and multiple current states of charge. The axle load is used to characterize the pressure borne by the tire along the direction of gravity, and the power device is used to supply power to the drive motor that drives each tire. The maximum set torque of the motor is determined based on the current rotational speed, and the maximum total power of the motor is determined based on the current state of charge. The maximum set torque of the motor is the set value of the maximum torque of the drive motor when the rotational speed of the tire is the current rotational speed, and the maximum total power of the motor is the sum of the maximum power of all the drive motors when the state of charge of the power supply device is the current state of charge. Based on all the current axle loads and the maximum total power of the motors, the maximum power of each drive motor is determined, and based on all the maximum power of the motors and all the current speeds, the maximum true torque of each drive motor is determined, wherein the maximum power of the motor is the maximum power of the drive motor at the current moment, and the maximum true torque is the true value of the maximum torque of the drive motor when the tire speed is the current speed; The final motor torque of each drive motor is determined based on the maximum actual torque and the pedal opening, or the final motor torque of each drive motor is determined based on the maximum set torque and the pedal opening, wherein the pedal opening is the opening of the accelerator pedal at the current moment.

2. The method according to claim 1, characterized in that, Before obtaining the axle load, rotational speed, and state of charge of the power supply of the four-wheeled independent vehicle at the current moment, and thus obtaining multiple current axle loads, multiple current rotational speeds, and multiple current states of charge, the method further includes: storing a first mapping relationship in a database, wherein the first mapping relationship is a mapping relationship between the rotational speed and the set value of the maximum torque; Determining the maximum set torque of the motor based on the current rotational speed includes: determining the set value of the maximum torque corresponding to the current rotational speed from the first mapping relationship based on the first mapping relationship and the current rotational speed; and determining the maximum set torque of the motor as the set value of the maximum torque corresponding to the current rotational speed.

3. The method according to claim 1, characterized in that, Before obtaining the axle load, rotational speed, and state of charge of each tire of the four-wheeled independent vehicle at the current moment, and the state of charge of the power supply device of the four-wheeled independent vehicle at the current moment, and obtaining multiple current axle loads, multiple current rotational speeds, and multiple current states of charge, the method further includes: storing a second mapping relationship in a database, wherein the second mapping relationship is a mapping relationship between the state of charge and the sum of the maximum values ​​of the power of all the drive motors; Determining the maximum total power of the motor based on the current state of charge includes: determining, based on the second mapping relationship and the current state of charge, the sum of the maximum power values ​​of all the drive motors corresponding to the current state of charge from the second mapping relationship; and determining the maximum total power of the motor as the sum of the maximum power values ​​of all the drive motors corresponding to the current speed.

4. The method according to claim 1, characterized in that, Based on all the current shaft loads and the maximum total power of the motors, determine the maximum power of each drive motor, including: The maximum power of each drive motor is determined based on Pbmaxi = (Lic / (L1c+L2c+L3c+L4c)) × Pbmax. Wherein, Pbmaxi is the maximum power of the i-th drive motor, Lic is the current axle load of the i-th tire, L1c, L2c, L3c, and L4c are the current axle loads of the first tire, the second tire, the third tire, and the fourth tire, respectively, and Pbmax is the maximum total power of the motor.

5. The method according to claim 1, characterized in that, Determining the maximum true torque of each drive motor based on the maximum power of all the motors and the current speed of all the motors includes: The maximum true torque of each drive motor is determined based on Tmaxi = (Pbmaxi × S) / Vi. Wherein, Tmaxi is the maximum true torque of the i-th drive motor, Pbmaxi is the maximum power of the i-th drive motor, Vi is the current speed of the i-th tire, and S is the conversion coefficient between torque, speed and power.

6. The method according to claim 1, characterized in that, The final motor torque of each drive motor is determined based on the maximum actual torque and the pedal opening, including: Based on Ti = Tmaxi × Kp, the final motor torque of each drive motor is determined. Where Ti is the final motor torque of the i-th drive motor, Tmaxi is the maximum actual torque of the i-th drive motor, and Kp is the pedal opening.

7. The method according to any one of claims 1 to 6, characterized in that, Determining the final motor torque of each drive motor based on the maximum actual torque and the pedal opening, or determining the final motor torque of each drive motor based on the maximum set torque and the pedal opening, includes: When the maximum actual torque is less than or equal to the maximum set torque of the motor, the final motor torque of each drive motor is determined based on the maximum actual torque and the pedal opening. When the maximum actual torque is greater than the maximum set torque of the motor, the final motor torque of each drive motor is determined based on the maximum set torque and the pedal opening.

8. A device for determining the torque of a drive motor for a four-wheeled independent vehicle, characterized in that, include: The acquisition unit is used to acquire the axle load, rotational speed and the state of charge of each tire of the four-wheeled independent vehicle at the current moment, and the state of charge of each power supply device of the four-wheeled independent vehicle at the current moment, to obtain multiple current axle loads, multiple current rotational speeds and multiple current states of charge, wherein the axle load is used to characterize the pressure borne by the tire along the direction of gravity, and the power supply device is used to supply power to the drive motor that drives each tire. The first determining unit is configured to determine the maximum set torque of the motor based on the current rotational speed and to determine the maximum total power of the motor based on the current state of charge. The maximum set torque of the motor is a set value of the maximum torque of the drive motor when the rotational speed of the tire is the current rotational speed, and the maximum total power of the motor is the sum of the maximum power values ​​of all the drive motors when the state of charge of the power supply device is the current state of charge. The second determining unit is used to determine the maximum power of each drive motor based on all the current axle loads and the maximum total power of the motors, and to determine the maximum true torque of each drive motor based on all the maximum power of the motors and all the current speeds, wherein the maximum power of the motor is the maximum power of the drive motor at the current moment, and the maximum true torque is the true value of the maximum torque of the drive motor when the tire speed is the current speed; The first processing unit is configured to determine the final motor torque of each of the drive motors based on the maximum actual torque and the pedal opening, or to determine the final motor torque of each of the drive motors based on the maximum set torque and the pedal opening, wherein the pedal opening is the opening of the accelerator pedal at the current moment.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device containing the computer-readable storage medium to perform the method for determining the torque of the drive motor of a four-wheeled independent vehicle as described in any one of claims 1 to 7.

10. A system for determining the torque of a drive motor in a wheeled independent vehicle, characterized in that, include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including a method for determining the torque of a drive motor of a four-wheeled independent vehicle as described in any one of claims 1 to 7.

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