Torque control method, device, medium and vehicle based on torque distribution ratio adjustment

Abstract

The present application relates to the technical field of new energy vehicles, and in particular to a torque control method, device, medium and vehicle based on torque distribution ratio adjustment. The method includes: obtaining the target torque of the whole vehicle, the original distribution ratio, and the original torque of the front and rear motors when a rapid accelerator operation is received; performing gradient and filtering processing on the original torque of the front and rear motors to obtain the corresponding requested torque of the front and rear motors; judging whether the front motor and the rear motor are in a torque zero-crossing state based on the original torque of the front and rear motors and the requested torque of the front and rear motors; if only one of the front and rear motors is in a torque zero-crossing state, adjusting the original distribution ratio to obtain a target distribution ratio based on the original torque, requested torque and target torque of the whole vehicle of the motor in the torque zero-crossing state; distributing the target torque of the whole vehicle based on the target distribution ratio to obtain the target torque of the front and rear motors. The use of this method can improve the phenomenon that the vehicle's response to Tip‑in is not timely enough.

Description

Technical Field

[0001] The present application relates to the field of new energy vehicle technology, and in particular to a torque control method, device, medium and vehicle based on torque distribution ratio adjustment. Background Art

[0002] Because new energy vehicles are driven by electric motors, they experience energy recovery during the motor-driven process. The torque is positive when the vehicle is moving forward and negative during energy recovery. Energy recovery occurs when the accelerator is released. When the driver initiates a rapid accelerator step (tip-in), the motor rotates forward, and its torque changes from negative to positive, a phenomenon known as positive torque zero crossing.

[0003] In addition, the drive motors of new energy vehicles are generally rigidly connected to the wheels through gear sets, splines and shafts, and the splines and gears in the power transmission chain hardware connections are clearance fits, so gaps are inevitable.

[0004] Therefore, when responding to a tip-in operation, the positive zero-crossing of torque can cause the splines and gears to collide, leading to driveline jitter. To address this, the current approach is to reduce the gradient of torque change during the zero-crossing. However, this approach slows the vehicle's response to the tip-in operation, creating a delay between the vehicle's response and the driver's expectations, impacting the driving experience. Summary of the Invention

[0005] Based on this, a torque control method, device, medium and vehicle based on torque distribution ratio adjustment are provided to improve the phenomenon in the prior art that the vehicle does not respond promptly enough to the tip-in operation.

[0006] In a first aspect, a torque control method based on torque distribution ratio adjustment is provided, the method comprising:

[0007] Upon receiving a driver-initiated rapid accelerator pedal operation, obtaining the vehicle target torque, the original distribution ratio, the front motor original torque, and the rear motor original torque; performing gradient and filtering processing on the front motor original torque and the rear motor original torque to obtain corresponding front motor requested torque and rear motor requested torque;

[0008] Determining whether the front motor is in a torque zero-crossing state according to the original torque of the front motor and the requested torque of the front motor; determining whether the rear motor is in a torque zero-crossing state according to the original torque of the rear motor and the requested torque of the rear motor;

[0009] If the front motor is in a torque zero-crossing state and the rear motor is not in a torque zero-crossing state, the original distribution ratio is adjusted to obtain a first target distribution ratio according to the front motor original torque, the front motor requested torque, and the vehicle target torque; the vehicle target torque is distributed according to the first target distribution ratio to obtain a first front motor target torque and a first rear motor target torque, so as to reduce the torque distribution of the front motor and increase the torque distribution of the rear motor;

[0010] If the rear motor is in a torque zero-crossing state and the front motor is not in a torque zero-crossing state, the original distribution ratio is adjusted to obtain a second target distribution ratio according to the rear motor original torque, the rear motor requested torque and the vehicle target torque; the vehicle target torque is distributed according to the second target distribution ratio to obtain a second front motor target torque and a second rear motor target torque, so as to reduce the torque distribution of the rear motor and increase the torque distribution of the front motor.

[0011] In combination with the first aspect, in a first possible implementation manner of the first aspect, the step of adjusting the original distribution ratio to obtain a first target distribution ratio based on the original torque of the front motor, the requested torque of the front motor, and the target torque of the entire vehicle includes:

[0012] obtaining an unrequested torque of the front motor according to a difference between the original torque of the front motor and the requested torque of the front motor;

[0013] Calculating a first torque distribution ratio according to the original torque of the front motor, the unrequested torque of the front motor, the target torque of the vehicle, and a preset front axle transmission ratio;

[0014] The first torque distribution ratio is compared with the original distribution ratio, and the largest one of the first torque distribution ratio and the original distribution ratio is used as a first target distribution ratio.

[0015] In combination with the first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, before the step of adjusting the original distribution ratio to obtain the first target distribution ratio based on the original torque of the front motor, the requested torque of the front motor, and the target torque of the entire vehicle, the method further includes:

[0016] obtaining a preset first torque threshold, and comparing the unrequested torque of the front motor with the first torque threshold;

[0017] If the unrequested torque of the front motor is greater than the first torque threshold and the vehicle target torque is greater than zero, the step of adjusting the original distribution ratio to obtain a first target distribution ratio is performed according to the original torque of the front motor, the requested torque of the front motor and the vehicle target torque.

[0018] In combination with the first aspect, in a third possible implementation manner of the first aspect, the step of adjusting the original distribution ratio to obtain a second target distribution ratio based on the original torque of the rear motor, the requested torque of the rear motor, and the target torque of the entire vehicle includes:

[0019] obtaining a rear motor unrequested torque according to a difference between the rear motor original torque and the rear motor requested torque;

[0020] Calculating a second torque distribution ratio according to the original torque of the rear motor, the unrequested torque of the rear motor, the target torque of the vehicle, and a preset rear axle transmission ratio;

[0021] The second torque distribution ratio is compared with the original distribution ratio, and the smallest of the second torque distribution ratio and the original distribution ratio is used as the second target distribution ratio.

[0022] In combination with the third possible implementation manner of the first aspect, in a fourth possible implementation manner of the first aspect, before the step of adjusting the original distribution ratio to obtain the second target distribution ratio based on the original torque of the rear motor, the requested torque of the rear motor, and the target torque of the entire vehicle, the method further includes:

[0023] obtaining a preset second torque threshold, and comparing the unrequested torque of the rear motor with the second torque threshold;

[0024] If the unrequested torque of the rear motor is greater than the second torque threshold and the vehicle target torque is greater than zero, the step of adjusting the original distribution ratio to obtain a second target distribution ratio is performed according to the rear motor original torque, the rear motor requested torque and the vehicle target torque.

[0025] In combination with the first aspect, in a fifth possible implementation manner of the first aspect, the step of determining whether the front motor is in a torque zero-crossing state according to the original torque of the front motor and the requested torque of the front motor includes:

[0026] Obtaining a preset third torque threshold and a fourth torque threshold, and determining whether the original torque of the front motor is greater than the third torque threshold and whether the requested torque of the front motor is greater than the fourth torque threshold;

[0027] If yes, set the value of the front motor position to a preset first value; if no, set the value of the front motor position to a preset second value;

[0028] collecting a current vehicle speed, and obtaining an unrequested torque of the front motor according to a difference between the original torque of the front motor and the requested torque of the front motor;

[0029] Obtaining a preset fifth torque threshold, a sixth torque threshold, and a vehicle speed threshold, and determining whether the original torque of the front motor is less than the third torque threshold, whether the requested torque of the front motor is greater than the fifth torque threshold, whether the unrequested torque of the front motor is less than the sixth torque threshold, and whether the current vehicle speed is less than the vehicle speed threshold;

[0030] If yes, set the reset value of the front motor to the first value; if no, set the reset value of the front motor to the second value;

[0031] When the value of the front motor setting is the first value and the value of the front motor reset is the second value, or the value of the front motor setting jumps from the first value to the second value and the value of the front motor reset is the second value, it is determined that the front motor is in a torque zero-crossing state;

[0032] When the value of the front motor setting is the second value and the value of the front motor reset is the first value, or the value of the front motor setting is the second value and the value of the front motor reset jumps from the first value to the second value, it is determined that the front motor is not in the torque zero state.

[0033] In combination with the fifth possible implementation manner of the first aspect, in a sixth possible implementation manner of the first aspect, the step of determining whether the rear motor is in a torque zero-crossing state according to the original torque of the rear motor and the requested torque of the rear motor includes:

[0034] determining whether the raw torque of the rear motor is greater than the third torque threshold and whether the requested torque of the rear motor is greater than the fourth torque threshold;

[0035] If yes, set the value of the rear motor position to the first value; if no, set the value of the rear motor position to the second value;

[0036] obtaining a rear motor unrequested torque according to a difference between the rear motor original torque and the rear motor requested torque;

[0037] determining whether the rear motor raw torque is less than the third torque threshold, whether the rear motor requested torque is greater than the fifth torque threshold, whether the rear motor unrequested torque is less than the sixth torque threshold, and whether the current vehicle speed is less than the vehicle speed threshold;

[0038] If yes, the value of the rear motor reset is set to the first value; if no, the value of the rear motor reset is set to the second value;

[0039] When the value of the rear motor setting is the first value and the value of the rear motor reset is the second value, or the value of the rear motor setting jumps from the first value to the second value and the value of the rear motor reset is the second value, it is determined that the rear motor is in a torque zero-crossing state;

[0040] When the value of the rear motor setting is the second value and the value of the rear motor reset is the first value, or the value of the rear motor setting is the second value and the value of the rear motor reset jumps from the first value to the second value, it is determined that the rear motor is not in the torque zero state.

[0041] In a second aspect, a torque control device based on torque distribution ratio adjustment is provided, the device comprising:

[0042] a parameter acquisition unit configured to, upon receiving a driver-initiated rapid accelerator pedal operation, acquire a vehicle target torque, an original distribution ratio, an original torque of the front motor, and an original torque of the rear motor; and perform gradient and filtering processing on the original torque of the front motor and the original torque of the rear motor to obtain corresponding requested torques of the front motor and the rear motor;

[0043] a torque zero-crossing state judgment unit, configured to judge whether the front motor is in a torque zero-crossing state according to the original torque of the front motor and the requested torque of the front motor; and to judge whether the rear motor is in a torque zero-crossing state according to the original torque of the rear motor and the requested torque of the rear motor;

[0044] a first adjustment unit configured to, if the front motor is in a torque zero-crossing state and the rear motor is not in a torque zero-crossing state, adjust the original distribution ratio by using the front motor original torque, the front motor requested torque, and the vehicle target torque to obtain a first target distribution ratio; and distribute the vehicle target torque according to the first target distribution ratio to obtain a first front motor target torque and a first rear motor target torque, so as to reduce the torque distribution of the front motor and increase the torque distribution of the rear motor;

[0045] The second adjustment unit is used to adjust the original distribution ratio to obtain a second target distribution ratio by using the original torque of the rear motor, the requested torque of the rear motor and the target torque of the whole vehicle if the rear motor is in a torque zero-crossing state and the front motor is not in a torque zero-crossing state; and distribute the target torque of the whole vehicle according to the second target distribution ratio to obtain a second front motor target torque and a second rear motor target torque, so as to reduce the torque distribution of the rear motor and increase the torque distribution of the front motor.

[0046] In a third aspect, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the torque control method based on torque distribution ratio adjustment as described in the first aspect or any one of the embodiments in combination with the first aspect are implemented.

[0047] In a fourth aspect, a vehicle is provided, comprising a torque control device based on torque distribution ratio adjustment as described in the second aspect, wherein the torque control device based on torque distribution ratio adjustment is used to execute the steps of the torque control method based on torque distribution ratio adjustment as described in the first aspect or any one of the embodiments combined with the first aspect.

[0048] The above-mentioned torque control method, device, medium and vehicle based on torque distribution ratio adjustment obtain the target torque of the whole vehicle, the original distribution ratio, the original torque of the front motor and the original torque of the rear motor when receiving the fast accelerator operation initiated by the driver; perform gradient and filtering on the original torque of the front motor and the original torque of the rear motor to obtain the corresponding requested torque of the front motor and the requested torque of the rear motor; judge whether the front motor is in the torque zero state according to the original torque of the front motor and the requested torque of the front motor; judge whether the rear motor is in the torque zero state according to the original torque of the rear motor and the requested torque of the rear motor; if the front motor is in the torque zero state and the rear motor is not in the torque zero state, adjust the original distribution ratio to obtain the first target distribution ratio according to the original torque of the front motor, the requested torque of the front motor and the target torque of the whole vehicle; distribute the target torque of the whole vehicle according to the first target distribution ratio to obtain a first front motor target torque and a first rear motor target torque to reduce the torque distribution of the front motor and increase the torque distribution of the rear motor, wherein the first front motor target torque and the first rear motor target torque are the torques that need to be achieved by the front motor and the rear motor in response to a quick throttle operation, respectively; if the rear motor is in a torque zero-crossing state and the front motor is not in a torque zero-crossing state, the original distribution ratio is adjusted to obtain a second target distribution ratio through the rear motor original torque, the rear motor requested torque and the vehicle target torque; the vehicle target torque is distributed according to the second target distribution ratio to obtain a second front motor target torque and a second rear motor target torque to reduce the torque distribution of the rear motor and increase the torque distribution of the front motor, wherein the second front motor target torque and the second rear motor target torque are the torques that need to be achieved by the front motor and the rear motor in response to a quick throttle operation, respectively. As can be seen, the torque control method based on torque distribution ratio adjustment of the present application can identify the torque zero-crossing phase of the front and rear motors. Therefore, when only one of the front and rear motors is in the torque zero-crossing state, the torque distribution of the motor in the torque zero-crossing state is reduced at the source by adjusting the torque distribution ratio in the front section of the torque chain. This reduction is then added to the motor that is not in the torque zero-crossing state, thereby improving the vehicle's response to tip-in operations during the torque zero-crossing phase. Therefore, compared with the prior art, the beneficial effect of the present application is that it improves the phenomenon of the vehicle's untimely response to tip-in operations during the torque zero-crossing phase, ensures that the vehicle's response meets the driver's expectations, and improves the vehicle's drivability and the driver's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 1 is a flow chart of a torque control method based on torque distribution ratio adjustment in one embodiment;

[0050] Figure 2 It is a structural block diagram of a process schematic device in an embodiment. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0052] It should be noted that the illustrations provided in this embodiment only illustrate the basic concept of the present application in a schematic manner. Therefore, the illustrations only show components related to the present application and are not drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component can be changed at will, and the component layout type may also be more complicated.

[0053] The structures, proportions, sizes, etc. illustrated in the drawings in this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with this technology. They are not intended to limit the conditions under which this application can be implemented, and therefore have no substantive technical significance. Any structural modifications, changes in proportional relationships, or adjustments in size, without affecting the efficacy and objectives that can be achieved by this application, should still fall within the scope of the technical contents disclosed in this application.

[0054] The directions or positional relationships indicated in this specification, such as "upper," "lower," "left," "right," "center," "longitudinal," "transverse," "horizontal," "inner," "outer," "radial," and "circumferential," are based on the directions or positional relationships shown in the accompanying drawings and are intended solely for the purpose of simplifying the description. They do not indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0055] In one embodiment, Figure 1 As shown, a torque control method based on torque distribution ratio adjustment is provided, comprising the following steps:

[0056] S1: Upon receiving a driver-initiated rapid accelerator pedal operation, the vehicle target torque, the original distribution ratio, the original torque of the front motor, and the original torque of the rear motor are obtained; the original torque of the front motor and the original torque of the rear motor are gradient- and filtered-processed to obtain corresponding requested torques of the front motor and the rear motor.

[0057] In one specific embodiment, when a driver-initiated rapid accelerator pedal (Tip-in) operation is received, the corresponding accelerator pedal depth can be obtained based on the rapid accelerator pedal operation; a preset mapping table between accelerator pedal depth and vehicle target torque is obtained; and the accelerator pedal depth is used to perform a lookup operation in the mapping table to obtain the vehicle target torque corresponding to the accelerator pedal depth. The vehicle target torque can be the torque after drivability gradient filtering and capacity limiting processing.

[0058] The original distribution ratio can be determined by combining the stability distribution principle and the efficiency optimization distribution principle to ensure the vehicle achieves optimal economy while maintaining stable driving. Its value range is [0, 1]. For example, the stability distribution principle means that the front and rear axle torques must be specifically distributed based on the real-time axle load distribution and must not exceed the maximum allowed road adhesion to prevent the vehicle from becoming unstable. The efficiency optimization distribution principle refers to the principle that, since efficiency includes motor efficiency and transmission efficiency, with motor efficiency being the most important factor, the efficiency optimization distribution principle, which takes motor efficiency into consideration, primarily aims to shift the motor operating point toward a higher efficiency point. Specifically, at a fixed speed, the demand for single-motor or dual-motor drive determines whether it is more efficient. If dual-motor drive is more efficient, the torque distribution ratio is calculated based on the front and rear motor efficiency MAP and the transmission ratio.

[0059] After obtaining the vehicle target torque and the original distribution ratio, the vehicle target torque is distributed using the original distribution ratio, the preset front axle transmission ratio, and the rear axle distribution ratio to obtain the front motor original torque and the rear motor original torque. The front motor original torque and the rear motor original torque are the torques required to be achieved by the front motor and the rear motor, respectively, in response to a rapid accelerator pedal operation. Mathematical expressions that can be used in this step include:

[0060] T Req_F_Raw =T Req_All *(1-K b ) / i f

[0061] T Req_R_Raw =T Req_All *K b / i r

[0062] Among them, T Req_F_Raw is the original torque of the front motor, T Req_All is the target torque of the vehicle, K b is the original distribution ratio, i f is the front axle transmission ratio, T Req_R_Raw is the original torque of the rear motor, i r is the rear axle transmission ratio.

[0063] Since the front motor raw torque and rear motor raw torque are the theoretical values the front and rear motors need to achieve, calculated based on tip-in operation, the front motor requested torque is a theoretical value obtained by applying gradient and filtering to the front motor raw torque, and the rear motor requested torque is a theoretical value obtained by applying gradient and filtering to the rear motor raw torque. Therefore, the front motor requested torque may not match the front motor raw torque, but it will not exceed the front motor raw torque. In other words, the front motor requested torque may be less than or equal to the front motor raw torque. Similarly, the rear motor requested torque may not match the rear motor raw torque, and may be less than or equal to the rear motor raw torque.

[0064] Therefore, the torque zero-crossing conditions of the front and rear motors can be monitored in subsequent steps. By adjusting the torque distribution ratio, the torque distribution of the motor in the torque zero-crossing state can be reduced from the source, and this part can be superimposed on the motor in the torque zero-crossing state, thereby improving the vehicle's response to the tip-in operation in the torque zero-crossing stage and enhancing the driver's driving experience.

[0065] In order to improve the NVH problem caused by the sudden increase in torque of the front and rear motors, the above-mentioned gradient processing may refer to the gradient slowing down processing of the original torque of the front motor and the original torque of the rear motor near the zero point; the above-mentioned filtering processing may refer to driving filtering, that is, realizing a smooth transition of torque between adjacent moments, making the change of vehicle acceleration smoother, and reducing the impact of sudden acceleration of the vehicle on the user.

[0066] S2: determining whether the front motor is in a torque zero-crossing state according to the original torque of the front motor and the requested torque of the front motor; and determining whether the rear motor is in a torque zero-crossing state according to the original torque of the rear motor and the requested torque of the rear motor.

[0067] In a specific embodiment, the step of judging whether the front motor is in a torque zero state according to the original torque of the front motor and the requested torque of the front motor includes: obtaining a preset third torque threshold and a fourth torque threshold, judging whether the original torque of the front motor is greater than the third torque threshold and whether the requested torque of the front motor is greater than the fourth torque threshold; if so, setting the value of the front motor position to a preset first value; if not, setting the value of the front motor position to a preset second value; collecting the current vehicle speed, and obtaining the unrequested torque of the front motor according to the difference between the original torque of the front motor and the requested torque of the front motor; obtaining a preset fifth torque threshold, a sixth torque threshold and a vehicle speed threshold, judging whether the original torque of the front motor is less than the third torque threshold, whether the requested torque of the front motor is greater than the fifth torque threshold, and the front motor Whether the unrequested torque of the machine is less than the sixth torque threshold, and whether the current vehicle speed is less than the vehicle speed threshold; if so, setting the value of the front motor reset to the first value; if not, setting the value of the front motor reset to the second value; when the value of the front motor set is the first value and the value of the front motor reset is the second value, or the value of the front motor set jumps from the first value to the second value and the value of the front motor reset is the second value, it is judged that the front motor is in a torque zero state; when the value of the front motor set is the second value and the value of the front motor reset is the first value, or the value of the front motor set is the second value and the value of the front motor reset jumps from the first value to the second value, it is judged that the front motor is not in a torque zero state.

[0068] For example, the first value may be 1, and the second value may be 0; the third torque threshold and the fourth torque threshold may be obtained through actual vehicle test calibration, and their value range is (-30, 0), and the third torque threshold is greater than the fourth torque threshold; the fifth torque threshold, the sixth torque threshold and the vehicle speed threshold may also be obtained through actual vehicle test calibration, and the fifth torque threshold is generally set to a value greater than 20, the sixth torque threshold is generally set to a value greater than 5, and the vehicle speed threshold is generally set to a value greater than 5 kph.

[0069] For example, the first value is 1 and the second value is 0. After determining the values of the front motor set and the front motor reset, the value of the front motor zero-crossing flag can be obtained based on the values of the front motor set and the front motor reset. The front motor zero-crossing flag is used to indicate whether the front motor is in a torque zero-crossing state. For details, see the front motor zero-crossing flag value table shown in Table 1.

[0070] Table 1: Table of values for the zero crossing flag of the front motor

[0071] Serial number <![CDATA[S F ]]> <![CDATA[R F ]]> <![CDATA[Z F ]]> 1 1 0 1 2 0 1 0 <![CDATA[3(S F Jump from 1 to 0)]]> 0 0 1 (keep the result of sequence number 1) <![CDATA[4(R F Jump from 1 to 0)]]> 0 0 0 (keep the result of sequence number 2)

[0072] In Table 1, S F Indicates that the front motor is set, R F Indicates the front motor reset, Z F Indicates the front motor zero crossing flag; when Z F When the value is 1, it means that the front motor is in the torque zero state. F When the value is 0, it means that the front motor is not in the torque zero-crossing state.

[0073] Similar to the step of determining whether the front motor is in a torque zero-crossing state, the step of determining whether the rear motor is in a torque zero-crossing state according to the rear motor original torque and the rear motor requested torque includes: determining whether the rear motor original torque is greater than the third torque threshold and whether the rear motor requested torque is greater than the fourth torque threshold; if so, setting the rear motor set value to the first value; if not, setting the rear motor set value to the second value; obtaining the rear motor unrequested torque according to the difference between the rear motor original torque and the rear motor requested torque; determining whether the rear motor original torque is less than the third torque threshold, whether the rear motor requested torque is greater than the fifth torque threshold, whether the rear motor unrequested torque is less than the sixth torque threshold, and Describing whether the current vehicle speed is less than the vehicle speed threshold; if so, setting the value of the rear motor reset to the first value; if not, setting the value of the rear motor reset to the second value; when the value of the rear motor set is the first value and the value of the rear motor reset is the second value, or the value of the rear motor set jumps from the first value to the second value and the value of the rear motor reset is the second value, it is determined that the rear motor is in a torque zero-crossing state; when the value of the rear motor set is the second value and the value of the rear motor reset is the first value, or the value of the rear motor set is the second value and the value of the rear motor reset jumps from the first value to the second value, it is determined that the rear motor is not in a torque zero-crossing state.

[0074] Similarly, taking the first value as 1 and the second value as 0 as an example, after determining the values of the rear motor set and rear motor reset, the value of the rear motor zero-crossing flag can be obtained based on the values of the rear motor set and rear motor reset. The rear motor zero-crossing flag is used to indicate whether the rear motor is in a torque zero-crossing state. For details, see the rear motor zero-crossing flag value table shown in Table 2.

[0075] Table 2 Rear motor zero crossing flag value table

[0076]

[0077]

[0078] In Table 2, S R Indicates that the front motor is set, Z R Indicates the front motor reset, Z R Indicates the front motor zero crossing flag; when Z R When the value is 1, it means that the front motor is in the torque zero state. R When the value is 0, it means that the front motor is not in the torque zero-crossing state.

[0079] S31: If the front motor is in a torque zero-crossing state and the rear motor is not in a torque zero-crossing state, the original distribution ratio is adjusted to obtain a first target distribution ratio according to the front motor original torque, the front motor requested torque and the vehicle target torque; the vehicle target torque is distributed according to the first target distribution ratio to obtain a first front motor target torque and a first rear motor target torque, so as to reduce the torque distribution of the front motor and increase the torque distribution of the rear motor.

[0080] In a specific embodiment, the step of adjusting the original distribution ratio to obtain a first target distribution ratio based on the original torque of the front motor, the requested torque of the front motor, and the target torque of the entire vehicle includes: obtaining the unrequested torque of the front motor based on the difference between the original torque of the front motor and the requested torque of the front motor; and calculating the first torque distribution ratio based on the original torque of the front motor, the unrequested torque of the front motor, the target torque of the entire vehicle, and a preset front axle transmission ratio, wherein the mathematical expression used includes:

[0081]

[0082] K F is the first torque distribution ratio, is the original torque of the front motor, T F_Dif The front motor does not request torque, i f is the front axle transmission ratio, T Req_All is the target torque of the whole vehicle; comparing the first torque distribution ratio and the original distribution ratio, the largest of the first torque distribution ratio and the original distribution ratio is used as the first target distribution ratio.

[0083] In a preferred embodiment, in order to more accurately perform the operation of adjusting the original distribution ratio, before the step of adjusting the original distribution ratio to obtain a first target distribution ratio based on the original torque of the front motor, the requested torque of the front motor, and the target torque of the entire vehicle, the method further includes: obtaining a preset first torque threshold and comparing the unrequested torque of the front motor with the first torque threshold; if the unrequested torque of the front motor is greater than the first torque threshold and the target torque of the entire vehicle is greater than zero, performing the step of adjusting the original distribution ratio to obtain a first target distribution ratio based on the original torque of the front motor, the requested torque of the front motor, and the target torque of the entire vehicle; if not, the step of adjusting the original distribution ratio to obtain the first target distribution ratio is not performed, and the front motor and the rear motor operate according to the requested torque of the front motor and the requested torque of the rear motor, respectively. The above-mentioned first torque threshold can be determined through actual vehicle testing and calibration. For example, the first torque threshold is generally set to a value greater than 10.

[0084] Furthermore, after obtaining the first target allocation ratio, in order to further improve the NVH problem, the first target allocation ratio can also be gradient processed. The gradient value corresponding to the gradient processing can be set jointly based on the first target allocation ratio after gradient processing obtained in the previous cycle and the first target allocation ratio obtained in the current cycle. The setting principle is: the greater the difference between the first target allocation ratio after gradient processing obtained in the previous cycle and the first target allocation ratio obtained in the current cycle, the greater the gradient value used for gradient processing in the current cycle; and if the first target allocation ratio after gradient processing obtained in the previous cycle is greater than the first target allocation ratio obtained in the current cycle, the gradient processing of the current cycle is gradient-up; if the first target allocation ratio after gradient processing obtained in the previous cycle is less than the first target allocation ratio obtained in the current cycle, the gradient processing of the current cycle is gradient-down.

[0085] After obtaining the first target distribution ratio or the first target distribution ratio after gradient processing, the target torque of the whole vehicle is distributed according to the first target distribution ratio or the first target distribution ratio after gradient processing to obtain the first front motor target torque for controlling the operation of the front motor and the first rear motor target torque for controlling the operation of the rear motor, and then the operation of the front motor and the rear motor are controlled respectively.

[0086] S32: If the rear motor is in a torque zero-crossing state and the front motor is not in a torque zero-crossing state, the original distribution ratio is adjusted to obtain a second target distribution ratio according to the rear motor original torque, the rear motor requested torque and the vehicle target torque; the vehicle target torque is distributed according to the second target distribution ratio to obtain a second front motor target torque and a second rear motor target torque, so as to reduce the torque distribution of the rear motor and increase the torque distribution of the front motor.

[0087] Similar to the above-mentioned step of calculating the first target distribution ratio, the step of adjusting the original distribution ratio to obtain the second target distribution ratio based on the rear motor original torque, the rear motor requested torque, and the vehicle target torque includes: obtaining the rear motor unrequested torque based on the difference between the rear motor original torque and the rear motor requested torque; and calculating the second torque distribution ratio based on the rear motor original torque, the rear motor unrequested torque, the vehicle target torque, and a preset rear axle transmission ratio, wherein the mathematical expression used includes:

[0088]

[0089] K R is the second torque distribution ratio, is the original torque of the rear motor, T R_Dif The rear motor does not request torque, i r is the rear axle transmission ratio, T Req_All is the target torque of the whole vehicle; comparing the second torque distribution ratio and the original distribution ratio, the smallest of the second torque distribution ratio and the original distribution ratio is used as the second target distribution ratio.

[0090] In a preferred embodiment, in order to more accurately perform the operation of adjusting the original distribution ratio, before the step of adjusting the original distribution ratio to obtain a second target distribution ratio based on the rear motor original torque, the rear motor requested torque, and the vehicle target torque, the method further includes: obtaining a preset second torque threshold and comparing the rear motor unrequested torque with the second torque threshold; if the rear motor unrequested torque is greater than the second torque threshold and the vehicle target torque is greater than zero, performing the step of adjusting the original distribution ratio to obtain a second target distribution ratio based on the rear motor original torque, the rear motor requested torque, and the vehicle target torque; if not, the step of adjusting the original distribution ratio to obtain the second target distribution ratio is not performed, and the front motor and the rear motor operate according to the front motor requested torque and the rear motor requested torque, respectively. The above-mentioned second torque threshold can be determined through actual vehicle testing and calibration. For example, the second torque threshold is generally set to a value greater than 10.

[0091] Furthermore, after obtaining the second target allocation ratio, in order to further improve the NVH problem, the second target allocation ratio can also be gradient processed. The gradient value corresponding to the gradient processing can be set jointly based on the second target allocation ratio after gradient processing obtained in the previous cycle and the second target allocation ratio obtained in the current cycle. The setting principle is: the greater the difference between the second target allocation ratio after gradient processing obtained in the previous cycle and the second target allocation ratio obtained in the current cycle, the greater the gradient value used for gradient processing in the current cycle; and if the second target allocation ratio after gradient processing obtained in the previous cycle is greater than the second target allocation ratio obtained in the current cycle, the gradient processing of the current cycle is gradient rising; if the second target allocation ratio after gradient processing obtained in the previous cycle is less than the second target allocation ratio obtained in the current cycle, the gradient processing of the current cycle is gradient falling.

[0092] After obtaining the second target distribution ratio or the second target distribution ratio after gradient processing, the target torque of the whole vehicle is distributed according to the second target distribution ratio or the second target distribution ratio after gradient processing to obtain the second front motor target torque for controlling the operation of the front motor and the second rear motor target torque for controlling the operation of the rear motor, and then the operation of the front motor and the rear motor are controlled respectively.

[0093] It should be noted that the mathematical expressions used in the above steps of allocating the vehicle target distribution ratio according to the first target distribution ratio to obtain the first front motor target torque and the first rear motor target torque; or allocating the vehicle target distribution ratio according to the second target distribution ratio to obtain the second front motor target torque and the second rear motor target torque are the same as the mathematical expressions used in the above steps of allocating the vehicle target torque according to the original distribution ratio to obtain the original torque of the front motor and the original torque of the rear motor, and will not be repeated here.

[0094] To summarize, the present application identifies the torque zero-crossing segments of the front and rear motors, so that when only one of the front and rear motors is in the torque zero-crossing state, in the front section of the torque chain, the torque distribution of the motor in the torque zero-crossing state is reduced from the source by adjusting the torque distribution ratio, and this part is superimposed on the motor that is not in the torque zero-crossing state, thereby improving the vehicle's response to the Tip-in operation in the torque zero-crossing stage, making the vehicle's response meet the driver's expectations, and improving the vehicle's drivability and the driver's driving experience.

[0095] It should be understood that although Figure 1 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. In addition, Figure 1At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0096] In one embodiment, Figure 2 As shown, a torque control device based on torque distribution ratio adjustment is provided, comprising:

[0097] a parameter acquisition unit configured to, upon receiving a driver-initiated rapid accelerator pedal operation, acquire a vehicle target torque, an original distribution ratio, an original torque of the front motor, and an original torque of the rear motor; and perform gradient and filtering processing on the original torque of the front motor and the original torque of the rear motor to obtain corresponding requested torques of the front motor and the rear motor;

[0098] a torque zero-crossing state judgment unit, configured to judge whether the front motor is in a torque zero-crossing state according to the original torque of the front motor and the requested torque of the front motor; and to judge whether the rear motor is in a torque zero-crossing state according to the original torque of the rear motor and the requested torque of the rear motor;

[0099] a first adjustment unit configured to, if the front motor is in a torque zero-crossing state and the rear motor is not in a torque zero-crossing state, adjust the original distribution ratio by using the front motor original torque, the front motor requested torque, and the vehicle target torque to obtain a first target distribution ratio; and distribute the vehicle target torque according to the first target distribution ratio to obtain a first front motor target torque and a first rear motor target torque, so as to reduce the torque distribution of the front motor and increase the torque distribution of the rear motor;

[0100] The second adjustment unit is used to adjust the original distribution ratio to obtain a second target distribution ratio by using the original torque of the rear motor, the requested torque of the rear motor and the target torque of the whole vehicle if the rear motor is in a torque zero-crossing state and the front motor is not in a torque zero-crossing state; and distribute the target torque of the whole vehicle according to the second target distribution ratio to obtain a second front motor target torque and a second rear motor target torque, so as to reduce the torque distribution of the rear motor and increase the torque distribution of the front motor.

[0101] In a specific embodiment, the first adjustment unit is used to adjust the original distribution ratio to obtain a first target distribution ratio through the front motor original torque, the front motor requested torque and the whole vehicle target torque, including: obtaining the front motor unrequested torque based on the difference between the front motor original torque and the front motor requested torque; calculating the first torque distribution ratio based on the front motor original torque, the front motor unrequested torque, the whole vehicle target torque and a preset front axle transmission ratio; comparing the first torque distribution ratio and the original distribution ratio, and taking the maximum of the first torque distribution ratio and the original distribution ratio as the first target distribution ratio.

[0102] In a preferred embodiment, before the step of adjusting the original distribution ratio to obtain a first target distribution ratio through the front motor original torque, the front motor requested torque and the whole vehicle target torque, the first adjustment unit is also used to: obtain a preset first torque threshold, and compare the front motor unrequested torque with the first torque threshold; if the front motor unrequested torque is greater than the first torque threshold and the whole vehicle target torque is greater than zero, execute the step of adjusting the original distribution ratio to obtain a first target distribution ratio through the front motor original torque, the front motor requested torque and the whole vehicle target torque.

[0103] In a specific embodiment, the second adjustment unit is used to adjust the original distribution ratio to obtain a second target distribution ratio through the rear motor original torque, the rear motor requested torque and the vehicle target torque, including: obtaining the rear motor unrequested torque based on the difference between the rear motor original torque and the rear motor requested torque; calculating the second torque distribution ratio based on the rear motor original torque, the rear motor unrequested torque, the vehicle target torque and a preset rear axle transmission ratio; comparing the second torque distribution ratio with the original distribution ratio, and taking the smallest of the second torque distribution ratio and the original distribution ratio as the second target distribution ratio.

[0104] In a preferred embodiment, before the step of adjusting the original distribution ratio to obtain a second target distribution ratio through the rear motor original torque, the rear motor requested torque and the whole vehicle target torque, the second adjustment unit is also used to: obtain a preset second torque threshold, and compare the rear motor unrequested torque with the second torque threshold; if the rear motor unrequested torque is greater than the second torque threshold and the whole vehicle target torque is greater than zero, execute the step of adjusting the original distribution ratio to obtain a second target distribution ratio through the rear motor original torque, the rear motor requested torque and the whole vehicle target torque.

[0105] In a specific embodiment, the torque zero-crossing state judgment unit is used to judge whether the front motor is in a torque zero-crossing state according to the original torque of the front motor and the requested torque of the front motor, including the following steps: obtaining a preset third torque threshold and a fourth torque threshold, judging whether the original torque of the front motor is greater than the third torque threshold and whether the requested torque of the front motor is greater than the fourth torque threshold; if so, setting the value of the front motor position to a preset first value; if not, setting the value of the front motor position to a preset second value; collecting the current vehicle speed, and obtaining the unrequested torque of the front motor according to the difference between the original torque of the front motor and the requested torque of the front motor; obtaining a preset fifth torque threshold, a sixth torque threshold and a vehicle speed threshold, and judging whether the original torque of the front motor is less than the third torque threshold and whether the requested torque of the front motor is greater than the fifth torque threshold value, whether the unrequested torque of the front motor is less than the sixth torque threshold, and whether the current vehicle speed is less than the vehicle speed threshold; if so, setting the value of the front motor reset to the first value; if not, setting the value of the front motor reset to the second value; when the value of the front motor set is the first value and the value of the front motor reset is the second value, or the value of the front motor set jumps from the first value to the second value and the value of the front motor reset is the second value, it is judged that the front motor is in a torque zero-crossing state; when the value of the front motor set is the second value and the value of the front motor reset is the first value, or the value of the front motor set is the second value and the value of the front motor reset jumps from the first value to the second value, it is judged that the front motor is not in a torque zero-crossing state.

[0106] In a specific embodiment, the torque zero-crossing state judgment unit is used to judge whether the rear motor is in the torque zero-crossing state according to the rear motor original torque and the rear motor requested torque, including: judging whether the rear motor original torque is greater than the third torque threshold and whether the rear motor requested torque is greater than the fourth torque threshold; if so, setting the rear motor set value to the first value; if not, setting the rear motor set value to the second value; obtaining the rear motor unrequested torque according to the difference between the rear motor original torque and the rear motor requested torque; judging whether the rear motor original torque is less than the third torque threshold, whether the rear motor requested torque is greater than the fifth torque threshold, and whether the rear motor unrequested torque is less than the sixth torque threshold, and Whether the current vehicle speed is less than the vehicle speed threshold; if so, setting the value of the rear motor reset to the first value; if not, setting the value of the rear motor reset to the second value; when the value of the rear motor set is the first value and the value of the rear motor reset is the second value, or the value of the rear motor set jumps from the first value to the second value and the value of the rear motor reset is the second value, it is determined that the rear motor is in a torque zero-crossing state; when the value of the rear motor set is the second value and the value of the rear motor reset is the first value, or the value of the rear motor set is the second value and the value of the rear motor reset jumps from the first value to the second value, it is determined that the rear motor is not in a torque zero-crossing state.

[0107] The specific definitions of the torque control device based on torque distribution ratio adjustment can be found in the above-mentioned definitions of the torque control method based on torque distribution ratio adjustment and will not be further elaborated here. The various modules in the aforementioned torque control device based on torque distribution ratio adjustment can be implemented in whole or in part through software, hardware, or a combination thereof. Each of these modules can be embedded in or independent of a processor in a computer device in hardware form, or can be stored in a computer device memory in software form, so that the processor can call and execute the corresponding operations of each of these modules.

[0108] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the torque control method based on torque distribution ratio adjustment as described in the above embodiment are implemented.

[0109] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0110] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0111] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A torque control method based on torque distribution ratio adjustment, characterized in that: include: Upon receiving a quick accelerator pedal operation initiated by the driver, the target torque of the vehicle, the original distribution ratio, the original torque of the front motor, and the original torque of the rear motor are obtained; Performing gradient and filtering processing on the original torque of the front motor and the original torque of the rear motor to obtain corresponding requested torque of the front motor and requested torque of the rear motor; determining whether the front motor is in a torque zero-crossing state according to the original torque of the front motor and the requested torque of the front motor; determining whether the rear motor is in a torque zero-crossing state according to the rear motor original torque and the rear motor requested torque; If the front motor is in a torque zero-crossing state and the rear motor is not in a torque zero-crossing state, adjusting the original distribution ratio to obtain a first target distribution ratio according to the original torque of the front motor, the requested torque of the front motor, and the target torque of the vehicle; Distributing the vehicle target torque according to the first target distribution ratio to obtain a first front motor target torque and a first rear motor target torque, so as to reduce the torque distribution of the front motor and increase the torque distribution of the rear motor; If the rear motor is in a torque zero-crossing state and the front motor is not in a torque zero-crossing state, adjusting the original distribution ratio to obtain a second target distribution ratio according to the rear motor original torque, the rear motor requested torque, and the vehicle target torque; The vehicle target torque is distributed according to the second target distribution ratio to obtain a second front motor target torque and a second rear motor target torque, so as to reduce the torque distribution of the rear motor and increase the torque distribution of the front motor.

2. The torque control method based on torque distribution ratio adjustment according to claim 1, characterized in that: The step of adjusting the original distribution ratio to obtain a first target distribution ratio according to the original torque of the front motor, the requested torque of the front motor, and the target torque of the entire vehicle includes: obtaining an unrequested torque of the front motor according to a difference between the original torque of the front motor and the requested torque of the front motor; Calculating a first torque distribution ratio according to the original torque of the front motor, the unrequested torque of the front motor, the target torque of the vehicle, and a preset front axle transmission ratio; The first torque distribution ratio is compared with the original distribution ratio, and the largest one of the first torque distribution ratio and the original distribution ratio is used as a first target distribution ratio.

3. The torque control method based on torque distribution ratio adjustment according to claim 2, characterized in that: Before the step of adjusting the original distribution ratio to obtain a first target distribution ratio according to the original torque of the front motor, the requested torque of the front motor, and the target torque of the entire vehicle, the method further includes: obtaining a preset first torque threshold, and comparing the unrequested torque of the front motor with the first torque threshold; If the unrequested torque of the front motor is greater than the first torque threshold and the vehicle target torque is greater than zero, the step of adjusting the original distribution ratio to obtain a first target distribution ratio is performed according to the original torque of the front motor, the requested torque of the front motor and the vehicle target torque.

4. The torque control method based on torque distribution ratio adjustment according to claim 1, characterized in that: The step of adjusting the original distribution ratio to obtain a second target distribution ratio according to the original torque of the rear motor, the requested torque of the rear motor, and the target torque of the entire vehicle includes: obtaining a rear motor unrequested torque according to a difference between the rear motor original torque and the rear motor requested torque; Calculating a second torque distribution ratio according to the original torque of the rear motor, the unrequested torque of the rear motor, the target torque of the vehicle, and a preset rear axle transmission ratio; The second torque distribution ratio is compared with the original distribution ratio, and the smallest of the second torque distribution ratio and the original distribution ratio is used as the second target distribution ratio.

5. The torque control method based on torque distribution ratio adjustment according to claim 4, characterized in that: Before the step of adjusting the original distribution ratio to obtain a second target distribution ratio according to the original torque of the rear motor, the requested torque of the rear motor, and the target torque of the entire vehicle, the method further includes: obtaining a preset second torque threshold, and comparing the unrequested torque of the rear motor with the second torque threshold; If the unrequested torque of the rear motor is greater than the second torque threshold and the vehicle target torque is greater than zero, the step of adjusting the original distribution ratio to obtain a second target distribution ratio is performed according to the rear motor original torque, the rear motor requested torque and the vehicle target torque.

6. The torque control method based on torque distribution ratio adjustment according to claim 1, characterized in that: The step of determining whether the front motor is in a torque zero-crossing state according to the original torque of the front motor and the requested torque of the front motor comprises: Obtaining a preset third torque threshold and a fourth torque threshold, and determining whether the original torque of the front motor is greater than the third torque threshold and whether the requested torque of the front motor is greater than the fourth torque threshold; If yes, set the value of the front motor position to a preset first value; if no, set the value of the front motor position to a preset second value; collecting a current vehicle speed, and obtaining an unrequested torque of the front motor according to a difference between the original torque of the front motor and the requested torque of the front motor; Obtaining a preset fifth torque threshold, a sixth torque threshold, and a vehicle speed threshold, and determining whether the original torque of the front motor is less than the third torque threshold, whether the requested torque of the front motor is greater than the fifth torque threshold, whether the unrequested torque of the front motor is less than the sixth torque threshold, and whether the current vehicle speed is less than the vehicle speed threshold; If yes, set the reset value of the front motor to the first value; if no, set the reset value of the front motor to the second value; When the value of the front motor setting is the first value and the value of the front motor reset is the second value, or the value of the front motor setting jumps from the first value to the second value and the value of the front motor reset is the second value, it is determined that the front motor is in a torque zero-crossing state; When the value of the front motor setting is the second value and the value of the front motor reset is the first value, or the value of the front motor setting is the second value and the value of the front motor reset jumps from the first value to the second value, it is determined that the front motor is not in the torque zero state.

7. The torque control method based on torque distribution ratio adjustment according to claim 6, characterized in that: The step of determining whether the rear motor is in a torque zero-crossing state according to the rear motor original torque and the rear motor requested torque includes: determining whether the raw torque of the rear motor is greater than the third torque threshold and whether the requested torque of the rear motor is greater than the fourth torque threshold; If yes, set the value of the rear motor position to the first value; if no, set the value of the rear motor position to the second value; obtaining a rear motor unrequested torque according to a difference between the rear motor original torque and the rear motor requested torque; determining whether the rear motor raw torque is less than the third torque threshold, whether the rear motor requested torque is greater than the fifth torque threshold, whether the rear motor unrequested torque is less than the sixth torque threshold, and whether the current vehicle speed is less than the vehicle speed threshold; If yes, the value of the rear motor reset is set to the first value; if no, the value of the rear motor reset is set to the second value; When the value of the rear motor setting is the first value and the value of the rear motor reset is the second value, or the value of the rear motor setting jumps from the first value to the second value and the value of the rear motor reset is the second value, it is determined that the rear motor is in a torque zero-crossing state; When the value of the rear motor setting is the second value and the value of the rear motor reset is the first value, or the value of the rear motor setting is the second value and the value of the rear motor reset jumps from the first value to the second value, it is determined that the rear motor is not in the torque zero state.

8. A torque control device based on torque distribution ratio adjustment, characterized in that: The device comprises: a parameter acquisition unit configured to, upon receiving a driver-initiated rapid accelerator pedal operation, acquire a vehicle target torque, an original distribution ratio, an original torque of the front motor, and an original torque of the rear motor; and perform gradient and filtering processing on the original torque of the front motor and the original torque of the rear motor to obtain corresponding requested torques of the front motor and the rear motor; a torque zero-crossing state judgment unit, configured to judge whether the front motor is in a torque zero-crossing state according to the original torque of the front motor and the requested torque of the front motor; and to judge whether the rear motor is in a torque zero-crossing state according to the original torque of the rear motor and the requested torque of the rear motor; a first adjustment unit configured to, if the front motor is in a torque zero-crossing state and the rear motor is not in a torque zero-crossing state, adjust the original distribution ratio by using the front motor original torque, the front motor requested torque, and the vehicle target torque to obtain a first target distribution ratio; and distribute the vehicle target torque according to the first target distribution ratio to obtain a first front motor target torque and a first rear motor target torque, so as to reduce the torque distribution of the front motor and increase the torque distribution of the rear motor; The second adjustment unit is used to adjust the original distribution ratio to obtain a second target distribution ratio by using the original torque of the rear motor, the requested torque of the rear motor and the target torque of the whole vehicle if the rear motor is in a torque zero-crossing state and the front motor is not in a torque zero-crossing state; and distribute the target torque of the whole vehicle according to the second target distribution ratio to obtain a second front motor target torque and a second rear motor target torque, so as to reduce the torque distribution of the rear motor and increase the torque distribution of the front motor.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the torque control method based on torque distribution ratio adjustment according to any one of claims 1 to 7 are implemented.

10. A vehicle, characterized in that: The vehicle includes the torque control device based on torque distribution ratio adjustment as claimed in claim 8, wherein the torque control device based on torque distribution ratio adjustment is used to perform the steps of the torque control method based on torque distribution ratio adjustment as claimed in any one of claims 1 to 7.

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