A vehicle torque control method, device, electronic equipment and storage medium

Abstract

Embodiments of the present application provide a vehicle torque control method and device, electronic equipment and storage medium, the method comprising: obtaining the front axle equivalent shaft speed and rear axle equivalent shaft speed of the vehicle, determining the equivalent shaft speed difference between the front axle and rear axle of the vehicle according to the front axle equivalent shaft speed and rear axle equivalent shaft speed; determining the drive shaft torque adjustment value according to the equivalent shaft speed difference; adjusting the output torque of the motor of the drive shaft according to the drive shaft torque adjustment value. The present application adjusts and controls the wheel slip through the shaft speed difference between the front drive shaft and the drive shaft, realizes the dual axle closed loop control in the full speed domain, discovers the wheel slip through the shaft speed difference, realizes faster adjustment and control, can timely adjust and control the motor wheel speed difference between the two axles, and avoids the unnecessary consumption of power consumption.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a vehicle torque control method and device, electronic equipment and a storage medium. BACKGROUND

[0002] With the development of new energy vehicles, the safety requirements for new energy vehicles are getting higher and higher, but for the current four-wheel drive vehicle, the motor torque response speed is relatively fast, which makes the vehicle easy to slip in special situations. In order to solve this problem, the prior art is to perform closed-loop control when the vehicle speed is within a certain range, and to perform open-loop control when it exceeds a certain range, so that the wheel slip cannot be effectively controlled at high speed. SUMMARY

[0003] In view of the above problems, the embodiments of the present application are proposed to provide a vehicle torque control method, device, electronic equipment and storage medium which overcome the above problems or at least partially solve the above problems.

[0004] In order to solve the above problems, the embodiments of the present application disclose a vehicle torque control method applied to a four-wheel drive vehicle, comprising:

[0005] obtaining the front axle equivalent shaft speed and the rear axle equivalent shaft speed of the vehicle, and determining the equivalent shaft speed difference between the front axle and the rear axle of the vehicle according to the front axle equivalent shaft speed and the rear axle equivalent shaft speed;

[0006] determining the drive shaft torque adjustment value according to the equivalent shaft speed difference;

[0007] adjusting the output torque of the motor of the drive shaft according to the drive shaft torque adjustment value.

[0008] Optionally, the obtaining the front axle equivalent shaft speed and the rear axle equivalent shaft speed of the vehicle comprises:

[0009] obtaining the front axle equivalent shaft speed and the rear axle equivalent shaft speed of the vehicle in the straight running condition.

[0010] Optionally, the determining the equivalent shaft speed difference between the front axle and the rear axle of the vehicle according to the front axle equivalent shaft speed and the rear axle equivalent shaft speed comprises:

[0011] obtaining the front axle motor speed of the vehicle, and calculating the front axle shaft speed according to the front axle motor speed;

[0012] obtaining the rear axle motor speed of the vehicle, and calculating the rear axle shaft speed according to the rear axle motor speed;

[0013] calculating the difference between the rear axle shaft speed and the front axle shaft speed to obtain a first equivalent shaft speed difference.

[0014] Optionally, the determining the difference between the front axle and the rear axle based on the front axle equivalent speed and the rear axle equivalent speed comprises:

[0015] acquiring a front wheel speed of the vehicle, and calculating the front axle equivalent speed based on the front wheel speed of the vehicle;

[0016] acquiring a rear wheel speed of the vehicle, and calculating the rear axle equivalent speed based on the rear wheel speed of the vehicle;

[0017] calculating the difference between the rear axle equivalent speed and the front axle equivalent speed to obtain a second equivalent speed difference.

[0018] Optionally, the determining the difference between the front axle and the rear axle based on the front axle equivalent speed and the rear axle equivalent speed comprises:

[0019] acquiring a vehicle speed;

[0020] when the vehicle speed is greater than zero and less than or equal to a first preset vehicle speed threshold, calculating the front axle speed based on the front axle motor speed of the vehicle, calculating the rear axle speed based on the rear axle motor speed of the vehicle, and calculating the difference between the rear axle speed and the front axle speed to obtain a first equivalent speed difference;

[0021] when the vehicle speed is greater than the first preset vehicle speed threshold, calculating the front axle equivalent speed based on the front wheel speed of the vehicle, calculating the rear axle equivalent speed based on the rear wheel speed of the vehicle, and calculating the difference between the rear axle equivalent speed and the front axle equivalent speed to obtain a second equivalent speed difference.

[0022] Optionally, the determining the drive shaft torque adjustment value based on the equivalent speed difference comprises:

[0023] when the absolute value of the equivalent speed difference is greater than a first equivalent speed difference threshold, determining the drive shaft torque adjustment value.

[0024] Optionally, the adjusting the output torque of the motor of the drive shaft based on the drive shaft torque adjustment value comprises:

[0025] continuously judging whether the absolute value of the equivalent speed difference is greater than the first equivalent speed difference threshold, when the absolute value of the equivalent speed difference is greater than the first equivalent speed difference threshold, reducing the drive shaft torque by the drive shaft torque adjustment value as a step size until the absolute value of the equivalent speed difference is less than a second equivalent difference threshold, and stopping adjusting when the absolute value of the equivalent speed difference is less than the second equivalent difference threshold, wherein the first equivalent speed difference threshold is greater than the second equivalent difference threshold.

[0026] Optionally, the adjusting the output torque of the motor of the drive shaft based on the drive shaft torque adjustment value comprises:

[0027] determining that the front axle of the vehicle needs to reduce torque or the rear axle of the vehicle needs to reduce torque when the absolute value of the equivalent axle speed difference is greater than a first equivalent axle speed difference threshold value;

[0028] controlling the rear axle torque to reduce according to the drive axle torque adjustment value when the rear axle of the vehicle needs to reduce torque;

[0029] controlling the front axle torque to reduce according to the drive axle torque adjustment value when the front axle of the vehicle needs to reduce torque.

[0030] Optionally, the determining that the front axle of the vehicle needs to reduce torque or the rear axle of the vehicle needs to reduce torque comprises:

[0031] determining that the rear axle of the vehicle needs to reduce torque when the equivalent axle speed difference is greater than zero;

[0032] determining that the front axle of the vehicle needs to reduce torque when the equivalent axle speed difference is less than zero.

[0033] Optionally, the method further comprises:

[0034] controlling the front axle torque to increase according to the drive axle torque adjustment value; or,

[0035] when the front axle of the vehicle needs to reduce torque, the method further comprises:

[0036] controlling the rear axle torque to increase according to the drive axle torque adjustment value.

[0037] Optionally, the controlling the front axle torque to increase according to the drive axle torque adjustment value comprises:

[0038] obtaining a front axle torque adjustment threshold value;

[0039] if the drive axle torque adjustment value is less than or equal to the front axle torque adjustment threshold value, then reducing the rear axle torque according to the drive axle torque adjustment value and increasing the front axle torque value according to the drive axle torque adjustment value;

[0040] if the drive axle torque adjustment value is greater than the front axle torque adjustment threshold value, then increasing the front axle torque value according to the front axle torque adjustment threshold value and reducing the rear axle torque according to the drive axle torque adjustment value.

[0041] Optionally, the controlling the rear axle torque to increase according to the drive axle torque adjustment value comprises:

[0042] obtaining a rear axle torque adjustment threshold value;

[0043] if the drive shaft torque adjustment value is less than or equal to the rear axle torque adjustment threshold value, then decreasing the front axle torque according to the drive shaft torque adjustment value, and increasing the rear axle torque according to the drive shaft torque adjustment value;

[0044] if the drive shaft torque adjustment value is greater than the rear axle torque adjustment threshold value, then increasing the rear axle torque value according to the rear axle torque adjustment threshold value, and decreasing the front axle torque according to the drive shaft torque adjustment value.

[0045] Optionally, the adjusting the output torque of the motor of the drive shaft according to the drive shaft torque adjustment value comprises:

[0046] determining a front axle and / or rear axle torque lower limit value;

[0047] if the current output torque of the motor of the drive shaft is less than or equal to the torque lower limit value after the drive shaft torque adjustment value is decreased, then adjusting the output torque of the motor of the drive shaft to the torque lower limit value.

[0048] Optionally, the determining a front axle and / or rear axle torque lower limit value comprises:

[0049] when the absolute value of the equivalent axle speed difference is less than a third equivalent axle speed difference threshold value, determining the front axle and / or rear axle torque lower limit value as zero;

[0050] when the absolute value of the equivalent axle speed difference is greater than the third equivalent axle speed difference threshold value, determining the front axle and / or rear axle torque lower limit value as a torque limit value of motor reverse rotation; the third equivalent axle speed difference threshold value is greater than the first equivalent axle speed difference threshold value.

[0051] In another aspect, the present application also discloses a vehicle torque control device, comprising:

[0052] an information acquisition module, configured to acquire a front axle equivalent axle speed and a rear axle equivalent axle speed of a vehicle;

[0053] a calculation module, configured to determine an equivalent axle speed difference between a front axle and a rear axle of the vehicle according to the front axle equivalent axle speed and the rear axle equivalent axle speed, and determine a drive shaft torque adjustment value according to the equivalent axle speed difference;

[0054] a control module, configured to adjust an output torque of a motor of the drive shaft according to the drive shaft torque adjustment value.

[0055] Optionally, the information acquisition module comprises:

[0056] a first equivalent axle speed difference determination sub-module, configured to acquire the front axle equivalent axle speed and the rear axle equivalent axle speed of the vehicle when the vehicle is in a straight running working condition.

[0057] Optionally, the calculation module comprises:

[0058] The second equivalent shaft speed difference determination submodule is configured to acquire a front axle motor speed of the vehicle, calculate a front axle speed according to the front axle motor speed of the vehicle, acquire a rear axle motor speed of the vehicle, calculate a rear axle speed according to the rear axle motor speed of the vehicle, and calculate a difference between the rear axle speed and the front axle speed to obtain a first equivalent shaft speed difference.

[0059] Optionally, the calculation module comprises:

[0060] The third equivalent shaft speed difference determination submodule is configured to acquire a front wheel speed of the vehicle, calculate a front axle equivalent shaft speed according to the front wheel speed of the vehicle, acquire a rear wheel speed of the vehicle, calculate a rear axle equivalent shaft speed according to the rear wheel speed of the vehicle, and calculate a difference between the rear axle equivalent shaft speed and the front axle equivalent shaft speed to obtain a second equivalent shaft speed difference.

[0061] Optionally, the calculation module comprises:

[0062] The fourth equivalent shaft speed difference determination submodule is configured to acquire a vehicle speed, calculate a front axle speed according to a front axle motor speed of the vehicle when the vehicle speed is greater than zero and less than or equal to a first preset vehicle speed threshold, calculate a rear axle speed according to a rear axle motor speed of the vehicle, calculate a difference between the rear axle speed and the front axle speed to obtain a first equivalent shaft speed difference, calculate a front axle equivalent shaft speed according to a front wheel speed of the vehicle when the vehicle speed is greater than the first preset vehicle speed threshold, calculate a rear axle equivalent shaft speed according to a rear wheel speed of the vehicle, and calculate a difference between the rear axle equivalent shaft speed and the front axle equivalent shaft speed to obtain a second equivalent shaft speed difference.

[0063] Optionally, the calculation module comprises:

[0064] The torque calculation submodule is configured to determine a driving shaft torque adjustment value when an absolute value of the equivalent shaft speed difference is greater than a first equivalent shaft speed difference threshold.

[0065] Optionally, the control module comprises:

[0066] The equivalent shaft speed difference adjustment unit is configured to continuously judge whether an absolute value of the equivalent shaft speed difference is greater than a first equivalent shaft speed difference threshold, decrease a driving shaft torque by the driving shaft torque adjustment value as a step size when the absolute value of the equivalent shaft speed difference is greater than the first equivalent shaft speed difference threshold until the absolute value of the equivalent shaft speed difference is less than a second equivalent difference threshold, and stop adjusting when the absolute value of the equivalent shaft speed difference is less than the second equivalent difference threshold, wherein the first equivalent shaft speed difference threshold is greater than the second equivalent difference threshold.

[0067] Optionally, the control module comprises:

[0068] a first motor control sub-module, configured to determine that the front axle of the vehicle needs to reduce torque or the rear axle of the vehicle needs to reduce torque when the absolute value of the equivalent axle speed difference is greater than a first equivalent axle speed difference threshold value;

[0069] a second motor control sub-module, configured to control the rear axle torque to reduce according to the driving axle torque adjustment value when the rear axle of the vehicle needs to reduce torque;

[0070] a third motor control sub-module, configured to control the front axle torque to reduce according to the driving axle torque adjustment value when the front axle of the vehicle needs to reduce torque.

[0071] Optionally, the first motor control sub-module further comprises:

[0072] a first motor control unit, configured to determine that the rear axle of the vehicle needs to reduce torque when the equivalent axle speed difference is greater than zero;

[0073] a second motor control unit, configured to determine that the front axle of the vehicle needs to reduce torque when the equivalent axle speed difference is less than zero.

[0074] Optionally, the second motor control sub-module comprises:

[0075] a third motor control unit, configured to control the front axle torque to increase according to the driving axle torque adjustment value, or control the rear axle torque to increase according to the driving axle torque adjustment value when the front axle of the vehicle needs to reduce torque.

[0076] Optionally, the third motor control unit comprises:

[0077] a front axle torque adjustment threshold value acquisition unit, configured to acquire a front axle torque adjustment threshold value;

[0078] a front axle torque value increasing unit, configured to reduce the rear axle torque according to the driving axle torque adjustment value and increase the front axle torque value according to the driving axle torque adjustment value if the driving axle torque adjustment value is less than or equal to the front axle torque adjustment threshold value;

[0079] a rear axle torque decreasing unit, configured to increase the front axle torque value according to the front axle torque adjustment threshold value and reduce the rear axle torque according to the driving axle torque adjustment value if the driving axle torque adjustment value is greater than the front axle torque adjustment threshold value.

[0080] Optionally, the third motor control unit comprises:

[0081] a rear axle torque adjustment threshold value acquisition unit, configured to acquire a rear axle torque adjustment threshold value;

[0082] a rear axle torque value increasing unit configured to, if the drive axle torque adjustment value is less than or equal to the rear axle torque adjustment threshold value, decrease the front axle torque according to the drive axle torque adjustment value and increase the rear axle torque according to the drive axle torque adjustment value;

[0083] a front axle torque decreasing unit configured to, if the drive axle torque adjustment value is greater than the rear axle torque adjustment threshold value, increase the rear axle torque value according to the rear axle torque adjustment threshold value and decrease the front axle torque according to the drive axle torque adjustment value.

[0084] Optionally, the control module comprises:

[0085] a torque lower limit value determining sub-module configured to determine a front axle and / or rear axle torque lower limit value;

[0086] a torque adjusting sub-module configured to, if the motor current output torque of the drive axle is less than or equal to the torque lower limit value after the drive axle torque adjustment value is decreased, adjust the motor current output torque of the drive axle to the torque lower limit value.

[0087] Optionally, the torque lower limit value determining sub-module comprises:

[0088] a first torque lower limit value determining unit configured to, when the absolute value of the equivalent axle speed difference is less than a third equivalent axle speed difference threshold value, determine the front axle and / or rear axle torque lower limit value as zero;

[0089] a second torque lower limit value determining unit configured to, when the absolute value of the equivalent axle speed difference is greater than the third equivalent axle speed difference threshold value, determine the front axle and / or rear axle torque lower limit value as a torque limit value of motor reverse rotation; the third equivalent axle speed difference threshold value is greater than the first equivalent axle speed difference threshold value.

[0090] In another aspect, the present application also discloses an electronic device, comprising a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the steps of the vehicle torque control method.

[0091] In another aspect, the present application also discloses a computer readable storage medium, wherein a computer program is stored in the computer readable storage medium, and the computer program, when executed by a processor, implements the steps of the vehicle torque control method.

[0092] In another aspect, the present application also discloses a vehicle, comprising a front motor, a rear motor, and a controller, wherein the controller is configured to implement the steps of the vehicle torque control method.

[0093] The embodiments of the present application have the following advantages:

[0094] The application obtains the front axle equivalent shaft speed and the rear axle equivalent shaft speed of the vehicle, determines the equivalent shaft speed difference between the front axle and the rear axle of the vehicle according to the front axle equivalent shaft speed and the rear axle equivalent shaft speed, determines the driving shaft torque adjustment value according to the equivalent shaft speed difference, and adjusts the output torque of the motor of the driving shaft according to the driving shaft torque adjustment value. The application can control the wheel slip through the shaft speed difference between the front driving shaft and the driving shaft, does not need to control the wheel slip according to the speed, realizes the double axle closed loop control in the full speed domain, discovers the wheel slip through the shaft speed difference, realizes faster control, can timely control the motor wheel speed difference between the two axles, and avoids the unnecessary consumption of power consumption. BRIEF DESCRIPTION OF DRAWINGS

[0095] Figure 1 is a step flow chart of a vehicle torque control method embodiment of the application;

[0096] Figure 2 is a step flow chart of another vehicle torque control method embodiment of the application;

[0097] Figure 3 is a step flow chart of a vehicle torque control device embodiment of the application. DETAILED DESCRIPTION

[0098] In order to make the above-mentioned purposes, characteristics and advantages of the application more obvious and easy to understand, the application will be further described in detail below with reference to the drawings and specific embodiments.

[0099] The prior art generally performs closed loop control when the vehicle speed is within a certain range and performs open loop control when the vehicle speed exceeds a certain range to solve the problem of wheel slip of the new energy vehicle in special conditions, so that the wheel slip cannot be effectively controlled in the high speed condition. The prior art generally adjusts the torque of the front axle, which may cause the power performance of the vehicle to decrease. The front and rear axle speed difference threshold of the prior art is a fixed value, which may cause the torque adjustment module to frequently intervene and exit.

[0100] One of the core ideas of the embodiments of the application is to provide a method for controlling the wheel slip through the shaft speed difference between the front driving shaft and the driving shaft, which realizes the double axle closed loop control in the full speed domain.

[0101] REFERENCE Figure 1 , a step flow chart of a vehicle torque control method embodiment of the application is shown, which can specifically include the following steps:

[0102] Step 101, obtaining the front axle equivalent shaft speed and the rear axle equivalent shaft speed of the vehicle, and determining the equivalent shaft speed difference between the front axle and the rear axle of the vehicle according to the front axle equivalent shaft speed and the rear axle equivalent shaft speed;

[0103] Persons skilled in the art should understand that the method is applied to a four-wheel drive vehicle, which is a vehicle whose four wheels can obtain power, and four-wheel drive is divided into double-motor drive, three-motor drive, and four-motor drive vehicles, including front and rear shafts driven by single motors, front and rear shafts driven by double motors, a front shaft driven by a single motor and a rear shaft driven by double motors, and a front shaft driven by double motors and a rear shaft driven by a single motor.

[0104] In the embodiment of the application, the vehicle is applicable to turning and straight running conditions, the motor rotation speed of the drive shaft can be collected by a motor rotation sensor, the shaft speed of the drive shaft driven by the motor can be obtained through the motor rotation speed, and the equivalent shaft speed difference between the front shaft and the rear shaft can be calculated according to the shaft speed of the rear shaft minus the shaft speed of the front shaft; the wheel speeds of the front wheels and the rear wheels can be collected by a wheel speed sensor, the shaft speed of the drive shaft can be calculated according to the wheel speeds of the front wheels and the rear wheels and the transmission ratio between the wheels and the motor, and the equivalent shaft speed difference between the front shaft and the rear shaft can be calculated according to the shaft speeds of the front shaft and the rear shaft.

[0105] In step 102, a drive shaft torque adjustment value is determined according to the equivalent shaft speed difference.

[0106] In the embodiment of the application, whether the front drive shaft and / or the rear drive shaft needs to be adjusted in torque can be determined according to the equivalent shaft speed difference, and the drive shaft torque adjustment value required by the front drive shaft and / or the rear drive shaft can be calculated according to the equivalent shaft speed difference or the absolute value of the equivalent shaft speed difference, wherein when the equivalent shaft speed difference is used for calculation, the adjustment value obtained has positive and negative signs, but the positive and negative signs only represent adjustment of the front shaft or the rear shaft, and the actual adjustment value is the absolute value of the drive shaft torque adjustment value obtained.

[0107] In step 103, the output torque of the motor of the drive shaft is adjusted according to the drive shaft torque adjustment value.

[0108] When the torque of the front drive shaft needs to be reduced, the torque of the front drive shaft can be reduced and the torque of the rear drive shaft can be increased according to the drive shaft torque adjustment value at the same time, and vice versa.

[0109] In one embodiment of the present disclosure, only the front shaft drive torque can be reduced, or only the rear shaft drive torque can be reduced.

[0110] In this embodiment of the invention, the equivalent axle speeds of the front and rear axles of the vehicle are obtained. The equivalent axle speed difference between the front and rear axles is determined based on these speeds. The required drive axle torque adjustment value to reduce the equivalent axle speed difference is calculated based on this difference. The output torque of the motor on the drive axle is adjusted based on this torque adjustment value. This invention controls wheel slippage by utilizing the axle speed difference between the front and rear drive axles, achieving dual-axis closed-loop control across the entire speed range. By detecting wheel slippage through the axle speed difference, faster control is achieved, and the motor speed difference between the two axles can be adjusted in real time, thereby preventing or reducing wheel slippage and enabling better vehicle control.

[0111] like Figure 2 The diagram illustrates a flowchart of another embodiment of the vehicle torque control method of the present invention, the method comprising the following steps:

[0112] Step 201: When the vehicle is in a straight-line driving condition, obtain the equivalent axle speed of the front axle and the equivalent axle speed of the rear axle, and determine the equivalent axle speed difference between the front axle and the rear axle based on the equivalent axle speed of the front axle and the equivalent axle speed of the rear axle.

[0113] In this embodiment of the invention, the steering wheel angle of the vehicle can be obtained using a steering wheel angle sensor. And can be controlled by turning the steering wheel. Calculate the steering wheel angular velocity a1, set the steering wheel angle threshold to S1, and the steering wheel angular velocity threshold to S2. Both S1 and S2 are greater than 0. These settings can be configured before the vehicle leaves the factory, depending on the vehicle model. If the absolute value of a is less than S1 and a1 is less than S2, it can be determined that the vehicle is in a straight-going condition; otherwise, it can be determined that the vehicle is not in a straight-going condition.

[0114] Compared to cornering, the wheels are less affected by the environment when driving straight, allowing for more precise control of vehicle slippage. This control strategy is more effective in reducing the loss of driving power caused by wheel slippage, providing higher acceleration performance and driving stability.

[0115] In one embodiment of the present invention, determining the equivalent axle speed difference between the front and rear axles of the vehicle based on the equivalent axle speed of the front axle and the equivalent axle speed of the rear axle may include:

[0116] Obtain the speed of the vehicle's front axle motor, and calculate the front axle speed based on the vehicle's front axle motor speed;

[0117] Obtain the speed of the vehicle's rear axle motor, and calculate the rear axle speed based on the vehicle's rear axle motor speed;

[0118] The difference between the rear axle speed and the front axle speed is calculated to obtain the first equivalent axle speed difference.

[0119] Specifically, when the vehicle is double-motor driven, the front motor speed collected by the motor rotary variable sensor is set as , the collected front motor speed is , the front axle speed is the front motor speed , the rear axle speed is the rear motor speed , and the first equivalent speed difference d1 can be calculated by formula (1):

[0120] Formula (1)

[0121] When the vehicle is three-motor driven and the front wheel is single-motor driven and the rear wheel is double-motor driven, the front motor speed collected by the motor rotary variable sensor is set as , the collected rear wheel left motor speed is , the rear wheel right motor speed is , the front axle speed is the front motor speed , the rear axle speed is the average of the left and right motor speeds of the rear axle, i.e. + , and the first equivalent speed difference d1 can be calculated by formula (2):

[0122] Formula (2)

[0123] When the vehicle is three-motor driven and the front wheel is double-motor driven and the rear wheel is single-motor driven, the front wheel left motor speed collected by the motor rotary variable sensor is set as , the front wheel right motor speed is , and the rear wheel motor speed is , the rear axle speed is the rear motor speed , the front axle speed is the average of the left and right motor speeds of the front axle, i.e. + , and the first equivalent speed difference d1 can be calculated by formula (3):

[0124] Formula (3)

[0125] When the vehicle is four-motor driven, the front wheel left motor speed collected by the motor rotary variable sensor is set as , the front wheel right motor speed is , the rear wheel left motor speed is , and the rear wheel right motor speed is , the front axle speed is the average of the left and right motor speeds of the front axle, i.e. + , the rear axle speed is the average of the left and right motor speeds of the rear axle, i.e. + The first equivalent axle speed difference d1 can be calculated by formula (4):

[0126] Formula (4)

[0127] In an embodiment of the present application, the determining the equivalent axle speed difference between the front axle and the rear axle of the vehicle according to the front axle equivalent axle speed and the rear axle equivalent axle speed can comprise:

[0128] obtaining a front wheel speed of the vehicle, and calculating a front axle equivalent axle speed according to the front wheel speed of the vehicle;

[0129] obtaining a rear wheel speed of the vehicle, and calculating a rear axle equivalent axle speed according to the rear wheel speed of the vehicle;

[0130] calculating a difference between the rear axle equivalent axle speed and the front axle equivalent axle speed to obtain a second equivalent axle speed difference.

[0131] Specifically, when the vehicle is three-motor driven and the front wheels are single-motor driven and the rear wheels are double-motor driven, the left front wheel speed collected by the wheel speed sensor is , the right front wheel speed is , the average speed of the left front wheel and the right front wheel equivalent to the front axle motor end is the front axle equivalent axle speed , The front axle equivalent axle speed is calculated by formula (5):

[0132] Formula (5)

[0133] wherein, is the reduction ratio of the reducer between the front motor and the front wheel, and is greater than 1;

[0134] The left rear wheel speed collected by the wheel speed sensor is , the right rear wheel speed is , the average speed of the left rear wheel and the right rear wheel equivalent to the rear axle motor end is the rear axle equivalent axle speed , The rear axle equivalent axle speed is calculated by formula (6):

[0135] Formula (6)

[0136] wherein, , are the transmission ratios of the left rear motor and the right rear motor to the wheel respectively, and are greater than 1;

[0137] Then the second equivalent axle speed difference d2 can be obtained according to the difference between the rear axle equivalent axle speed and the front axle equivalent axle speed , and d2 can be calculated by formula (7):

[0138] Formula (7)

[0139] It should be noted that the vehicle is driven by two motors, and the second equivalent shaft speed difference d2 can be calculated in the same way when the vehicle is driven by four motors, which will not be repeated here.

[0140] In an embodiment of the present application, the equivalent shaft speed difference between the front axle and the rear axle of the vehicle can be determined according to the front axle equivalent shaft speed and the rear axle equivalent shaft speed, which can include:

[0141] The vehicle speed is obtained, and when the speed of the vehicle is greater than zero and less than or equal to a first preset vehicle speed threshold, the front axle speed is calculated according to the vehicle front axle motor speed, the rear axle speed is calculated according to the vehicle rear axle motor speed, and the difference between the rear axle speed and the front axle speed is calculated to obtain a first equivalent shaft speed difference;

[0142] In the embodiment of the present application, the speed V1 of the vehicle can be collected, and the vehicle speed threshold V2 is set. When V1<=V2, the speed of the vehicle is small at this time, the collected wheel speed is more lagging, and the equivalent shaft speed difference calculated according to the motor speed difference of the vehicle is more accurate. At this time, the first equivalent shaft speed difference can be used as the equivalent shaft speed difference between the front axle and the rear axle of the vehicle.

[0143] When the speed of the vehicle is greater than the first preset vehicle speed threshold, the front axle equivalent shaft speed is calculated according to the vehicle front wheel speed, the rear axle equivalent shaft speed is calculated according to the vehicle rear wheel speed, and the difference between the rear axle equivalent shaft speed and the front axle equivalent shaft speed is calculated to obtain a second equivalent shaft speed difference.

[0144] In an example, when the speed V1 of the vehicle is greater than V2, it indicates that the speed of the vehicle at this time is large enough. Since the collected wheel speed is more accurate than the collected motor speed when the vehicle is at high speed, the corresponding equivalent shaft speed difference between the front axle and the rear axle of the vehicle can be calculated according to the wheel speed of the vehicle. At this time, the second equivalent shaft speed difference can be used as the equivalent shaft speed difference between the front axle and the rear axle of the vehicle.

[0145] It should be noted that V2 in the embodiment of the present application is greater than 0, and the vehicle speed threshold can be set before the vehicle is shipped according to different configurations of the vehicle.

[0146] Step 202, when the absolute value of the equivalent shaft speed difference is greater than a first equivalent shaft speed difference threshold, the driving shaft torque adjustment value is determined.

[0147] The first equivalent shaft speed difference threshold is a condition for judging whether the driving shaft torque of the vehicle needs to be adjusted. The absolute value of the equivalent shaft speed difference is set to , and the first equivalent shaft speed difference threshold is t1. When >=t1, the driving shaft torque adjustment value required to eliminate the equivalent shaft speed difference can be calculated according to formula (8)-formula (10) :

[0148] Equation (8)

[0149] Equation (9)

[0150] Equation (10)

[0151] wherein k represents the current time, J represents the wheel rotational inertia, wherein e represents the equivalent shaft speed difference correction value, A is a proportional coefficient, B is an integral coefficient, C is a differential coefficient, e k represents the difference value of the equivalent shaft speed difference at different times, represents the driving shaft torque adjustment value increment.

[0152] In an embodiment of the present application, step 202 can include the following sub-step S21,

[0153] Sub-step S21, continuously judge whether the absolute value of the equivalent shaft speed difference is greater than a first equivalent shaft speed difference threshold value, when the absolute value of the equivalent shaft speed difference is greater than the first equivalent shaft speed difference threshold value, continuously reduce the driving shaft torque with the torque adjustment value as the target until the absolute value of the equivalent shaft speed difference is less than a second equivalent difference threshold value, and stop adjusting when it is less than the second equivalent difference threshold value, wherein the first equivalent shaft speed difference threshold value is greater than the second equivalent difference threshold value.

[0154] In the embodiment of the present application, the first equivalent shaft speed difference threshold value is greater than the second equivalent difference threshold value, when the equivalent shaft speed difference reaches the first equivalent shaft speed difference threshold value, it indicates that there is a slipping wheel, and the torque adjustment value of the driving shaft corresponding to the slipping wheel is calculated, and the output torque of the motor of the driving shaft is adjusted according to the torque adjustment value. The whole process continuously judges whether the absolute value of the equivalent shaft speed difference is less than the second equivalent shaft speed difference threshold value, when the absolute value of the equivalent shaft speed difference is greater than the second equivalent shaft speed difference threshold value, the adjustment step length that the motor can withstand corresponding to the current actual torque of another shaft motor can be looked up from the table, the size of the adjustment step length and the torque adjustment value is judged, when the adjustment step length is less than the torque adjustment value, the output torque of the motor of the driving shaft that needs to be adjusted is reduced by a preset step length, when the adjustment step length is greater than the torque adjustment value, the output torque of the motor of the driving shaft that needs to be adjusted is reduced by the torque adjustment value as the step length, when the absolute value of the equivalent shaft speed difference is greater than the first equivalent shaft speed difference threshold value, the output torque of the motor of the driving shaft that needs to be adjusted is continuously reduced until the absolute value of the equivalent shaft speed difference is less than the second equivalent difference threshold value, and the adjustment is stopped when it is less than the second equivalent difference threshold value. The present application introduces two equivalent difference threshold values, one large and one small, so that the vehicle reaches a more stable state than the control target before exiting, avoiding frequent triggering and exiting of the control strategy.

[0155] Step 203, when the absolute value of the equivalent shaft speed difference is greater than the first equivalent shaft speed difference threshold value, it is determined that the front axle of the vehicle needs to reduce torque or the rear axle of the vehicle needs to reduce torque;

[0156] In the embodiment of the present application, the equivalent shaft speed difference can be positive or negative, and when the absolute value of the equivalent shaft speed difference is greater than the first equivalent shaft speed difference threshold value, it can be determined according to the positive or negative of the equivalent shaft speed difference whether the rear axle or the front axle of the vehicle needs to reduce torque.

[0157] In an embodiment of the present application, the determination of whether the front axle of the vehicle needs to reduce torque or the rear axle of the vehicle needs to reduce torque can include sub-steps S22-S23.

[0158] Sub-step S22, when the equivalent shaft speed difference is greater than zero, it is determined that the rear axle of the vehicle needs to reduce torque.

[0159] When the equivalent shaft speed difference is greater than 0 and the equivalent shaft speed difference is the rear axle speed minus the front axle speed, it indicates that the rear axle speed is greater than the front axle speed, and the rear axle torque needs to be reduced to balance the front axle speed and the rear axle speed, thereby inhibiting the slip or reducing the slip degree of the wheel.

[0160] Sub-step S23, when the equivalent shaft speed difference is less than zero, it is determined that the front axle of the vehicle needs to reduce torque.

[0161] When the equivalent shaft speed difference is less than 0, it indicates that the front axle speed is greater than the rear axle speed, and the front axle torque needs to be reduced to balance the front axle speed and the rear axle speed, thereby inhibiting the slip or reducing the slip degree of the wheel.

[0162] Step 204, when the rear axle of the vehicle needs to reduce torque, the rear axle torque is controlled to be reduced according to the drive shaft torque adjustment value.

[0163] In an embodiment of the present application, when the rear axle of the vehicle needs to reduce torque, the method further comprises: controlling the front axle torque to increase according to the drive shaft torque adjustment value.

[0164] Or, when the front axle of the vehicle needs to reduce torque, the method further comprises: controlling the rear axle torque to increase according to the drive shaft torque adjustment value.

[0165] In an embodiment of the present application, the control of the front axle torque to increase according to the drive shaft torque adjustment value comprises: obtaining a front axle torque adjustment threshold value; if the drive shaft torque adjustment value is less than or equal to the front axle torque adjustment threshold value, then the rear axle torque is reduced according to the drive shaft torque adjustment value, and the front axle torque value is increased according to the drive shaft torque adjustment value; if the drive shaft torque adjustment value is greater than the front axle torque adjustment threshold value, then the front axle torque value is increased according to the front axle torque adjustment threshold value, and the rear axle torque is reduced according to the drive shaft torque adjustment value.

[0166] In the embodiment of the present application, the axis of which the torque is reduced is set as the 1st axis, the axis of which the torque is increased is set as the 2nd axis, the front axis torque adjustment threshold refers to the maximum torque value that the driving axis of which the torque is increased can increase, that is, the difference between the motor torque value of the axis motor at this time and the physical upper limit value of the motor, in the process of torque adjustment, if the current axis torque adjustment threshold is greater than or equal to the driving axis torque adjustment value, the torque of the rear axis is reduced according to the driving axis torque adjustment value, and the torque value of the front axis is increased according to the driving axis torque adjustment value, and the total torque demand of the two axes in the whole process is unchanged, so as to ensure the driving force of the vehicle in the case of preventing the vehicle from slipping, and further to ensure the driving performance of the vehicle after the slipping is inhibited.

[0167] In the process of torque adjustment, if the current axis torque adjustment threshold is less than the driving axis torque adjustment value, the front axis torque value is increased until the front axis torque increment reaches the torque adjustment threshold, and then the increase of the front axis torque is stopped, the torque value of the rear axis is reduced according to the driving axis torque adjustment value, until the rear axis has no torque reduction demand, and the total torque demand of the two axes in the whole process is not reduced, so as to ensure the driving force of the vehicle in the case of preventing the vehicle from slipping, and further to ensure the driving performance of the vehicle after the slipping is inhibited.

[0168] It can be understood that the torque adjustment value is the torque value that needs to be adjusted by the vehicle in the current vehicle condition.

[0169] In an embodiment of the present application, the control of the increase of the rear axis torque according to the driving axis torque adjustment value comprises: obtaining a rear axis torque adjustment threshold; if the driving axis torque adjustment value is less than or equal to the rear axis torque adjustment threshold, the front axis torque is reduced according to the driving axis torque adjustment value, and the rear axis torque is increased according to the driving axis torque adjustment value; if the driving axis torque adjustment value is greater than the rear axis torque adjustment threshold, the rear axis torque value is increased according to the rear axis torque adjustment threshold, and the front axis torque is reduced according to the driving axis torque adjustment value.

[0170] In the embodiment of the present application, the axis of which the torque is reduced is set as the 1st axis, the axis of which the torque is increased is set as the 2nd axis, the rear axis torque adjustment threshold refers to the maximum torque value that the rear driving axis of which the torque is increased can increase, in the process of torque adjustment, when the rear axis torque adjustment threshold is greater than or equal to the driving axis torque adjustment value, the torque of the front axis is reduced according to the driving axis torque adjustment value, and the torque value of the rear axis is increased according to the driving axis torque adjustment value, and the total torque demand of the two axes in the whole process is unchanged, so as to ensure the driving force of the vehicle in the case of preventing the vehicle from slipping, and further to ensure the driving performance of the vehicle after the slipping is inhibited.

[0171] In the process of torque adjustment, when the rear axle torque adjustment threshold is less than the drive axle torque adjustment value, the rear axle torque value is increased according to the rear axle torque adjustment threshold until the front axle torque increment reaches the torque adjustment threshold, and then the increasing of the rear axle torque is stopped, the front axle torque value is reduced according to the drive axle torque adjustment value until the front axle has no torque reduction demand, and the total torque demand of the two axles is reduced in the whole process, so as to ensure the driving force of the vehicle in the case of preventing the vehicle from slipping, and further ensure the driving performance of the vehicle after the slipping is inhibited.

[0172] In an embodiment of the present application, the adjusting the output torque of the motor of the drive axle according to the drive axle torque adjustment value can include: determining a front axle and / or rear axle torque lower limit value; and if the current output torque of the motor of the drive axle is less than or equal to the torque lower limit value after the drive axle torque adjustment value is reduced, adjusting the output torque of the motor of the drive axle to the torque lower limit value.

[0173] In the embodiment of the present application, the front axle and / or rear axle torque lower limit value can be obtained, the torque lower limit value refers to the lowest value of the torque of the axle that can be adjusted, and if the current output torque of the motor of the drive axle is less than or equal to the torque lower limit value after the drive axle torque adjustment value is reduced, it is indicated that the lowest value of the torque of the axle is reached, for example, when the drive axle torque adjustment value is 50 N*m, the current output torque of the drive axle that needs to be reduced is 30 N*m, and the lower limit value is -10 N*m, the current output torque of the drive axle that needs to be reduced is -20 N*m after being reduced by 50 N*m, which is less than the torque lower limit value, and the output torque of the drive axle can only be reduced to the lower limit value.

[0174] If the current output torque of the motor of the drive axle is greater than the torque lower limit value after the drive axle torque adjustment value is reduced, it is indicated that the lowest value of the torque of the axle is not reached, and the output torque of the drive axle is reduced according to the drive axle torque adjustment value, for example, when the drive axle torque adjustment value is 50 N*m, the current output torque of the drive axle that needs to be reduced is 30 N*m, and the lower limit value is -40 N*m, the current output torque of the drive axle that needs to be reduced is -20 N*m after being reduced by 50 N*m, which is greater than the torque lower limit value, and the output torque of the motor of the drive axle can be reduced according to the drive axle torque adjustment value.

[0175] In an embodiment of the present application, the determining the front axle and / or rear axle torque lower limit value can include: when the absolute value of the equivalent axle speed difference is less than a third equivalent axle speed difference threshold, determining the front axle and / or rear axle torque lower limit value as zero; and when the absolute value of the equivalent axle speed difference is greater than the third equivalent axle speed difference threshold, determining the front axle and / or rear axle torque lower limit value as the torque limit value of the motor reverse rotation; and the third equivalent axle speed difference threshold is greater than the first equivalent axle speed difference threshold.

[0176] In the embodiment of the present application, the third equivalent shaft speed difference threshold is greater than the first equivalent shaft speed difference threshold. When the absolute value of the equivalent shaft speed difference is greater than the third equivalent shaft speed difference threshold, it indicates that the torque to be reduced is relatively large, and the equivalent shaft speed difference cannot be eliminated after the output torque of the drive shaft is reduced to 0, at this time, it is still necessary to continue to reduce, and the torque of the shaft can be set as the physical limit value of motor reverse rotation. When the absolute value of the equivalent shaft speed difference is less than the third equivalent shaft speed difference threshold, it indicates that the equivalent shaft speed difference can be eliminated or reduced after the output torque of the drive shaft is reduced to 0, at this time, the lower limit value of the front shaft and / or rear shaft torque can be set to 0.

[0177] The present application can reduce or inhibit the slip of the wheels through the shaft speed difference between the front drive shaft and the drive shaft, and does not need to control the wheel slip according to the speed, realizes that the double shaft closed loop control can be done in the full speed domain; the slip of the wheels is found through the shaft speed difference, realizes faster control, can timely control the motor wheel speed difference between the two shafts, and avoids the unnecessary loss of power; the present application introduces two equivalent speed difference thresholds, and one is large and one is small, so that the drive shaft stops until the equivalent speed difference is less than the smaller equivalent speed difference threshold in the process of reducing the torque, so that the vehicle reaches a more stable state than the control target and then exits, avoiding the frequent triggering and exiting of the control strategy. The present application can also transfer the torque between the front shaft and the rear shaft, that is, one shaft is increased and one shaft is reduced, so that the torque demand of the whole vehicle is unchanged while the wheel slip is eliminated.

[0178] It should be noted that, for the method embodiments, in order to simply describe, they are all expressed as a series of action combinations, but those skilled in the art should know that the embodiments of the present application are not limited by the action sequence described, because according to the embodiments of the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions involved are not necessarily necessary for the embodiments of the present application.

[0179] Reference Figure 3 is a step flow chart of an embodiment of a vehicle torque control device of the present application, and the vehicle torque control device can comprise:

[0180] The information acquisition module 301 is configured to acquire the front shaft equivalent shaft speed and the rear shaft equivalent shaft speed of the vehicle.

[0181] The calculation module 302 is configured to determine the equivalent shaft speed difference between the front shaft and the rear shaft of the vehicle according to the front shaft equivalent shaft speed and the rear shaft equivalent shaft speed, and determine the drive shaft torque adjustment value according to the equivalent shaft speed difference.

[0182] The control module 303 is configured to adjust the output torque of the motor of the drive shaft according to the drive shaft torque adjustment value.

[0183] In an alternative embodiment, the information acquisition module 301 can comprise:

[0184] The first equivalent axle speed difference determination submodule is configured to acquire the front axle equivalent axle speed and the rear axle equivalent axle speed of the vehicle when the vehicle is in the straight running mode.

[0185] In an alternative embodiment, the calculation module 302 can comprise:

[0186] The second equivalent axle speed difference determination submodule is configured to acquire the front axle motor speed of the vehicle, calculate the front axle speed according to the front axle motor speed, acquire the rear axle motor speed of the vehicle, calculate the rear axle speed according to the rear axle motor speed, and calculate the difference between the rear axle speed and the front axle speed to obtain the first equivalent axle speed difference.

[0187] In an alternative embodiment, the calculation module 302 can comprise:

[0188] The third equivalent axle speed difference determination submodule is configured to acquire the front wheel speed of the vehicle, calculate the front axle equivalent axle speed according to the front wheel speed, acquire the rear wheel speed of the vehicle, calculate the rear axle equivalent axle speed according to the rear wheel speed, and calculate the difference between the rear axle equivalent axle speed and the front axle equivalent axle speed to obtain the second equivalent axle speed difference.

[0189] In an alternative embodiment, the calculation module 302 can comprise:

[0190] The fourth equivalent axle speed difference determination submodule is configured to acquire the vehicle speed, calculate the front axle speed according to the front axle motor speed when the vehicle speed is greater than zero and less than or equal to a first preset vehicle speed threshold, calculate the rear axle speed according to the rear axle motor speed, calculate the difference between the rear axle speed and the front axle speed to obtain the first equivalent axle speed difference, calculate the front axle equivalent axle speed according to the front wheel speed when the vehicle speed is greater than the first preset vehicle speed threshold, calculate the rear axle equivalent axle speed according to the rear wheel speed, and calculate the difference between the rear axle equivalent axle speed and the front axle equivalent axle speed to obtain the second equivalent axle speed difference.

[0191] In an alternative embodiment, the calculation module 302 can comprise:

[0192] The torque calculation submodule is configured to determine the driving axle torque adjustment value when the absolute value of the equivalent axle speed difference is greater than a first equivalent axle speed difference threshold.

[0193] In an alternative embodiment, the control module 303 can comprise:

[0194] An equivalent shaft speed difference adjusting unit is configured to continuously determine whether an absolute value of the equivalent shaft speed difference is greater than a first equivalent shaft speed difference threshold value, and when the absolute value of the equivalent shaft speed difference is greater than the first equivalent shaft speed difference threshold value, reduce the driving shaft torque by the driving shaft torque adjustment value until the absolute value of the equivalent shaft speed difference is less than a second equivalent shaft speed difference threshold value, and stop adjusting when the absolute value of the equivalent shaft speed difference is less than the second equivalent shaft speed difference threshold value, wherein the first equivalent shaft speed difference threshold value is greater than the second equivalent shaft speed difference threshold value.

[0195] In an optional embodiment, the control module 303 can comprise:

[0196] A first motor control submodule is configured to determine that the front axle of the vehicle needs to reduce torque or the rear axle of the vehicle needs to reduce torque when the absolute value of the equivalent shaft speed difference is greater than the first equivalent shaft speed difference threshold value.

[0197] A second motor control submodule is configured to control the rear axle torque to reduce according to the driving shaft torque adjustment value when the rear axle of the vehicle needs to reduce torque.

[0198] A third motor control submodule is configured to control the front axle torque to reduce according to the driving shaft torque adjustment value when the front axle of the vehicle needs to reduce torque.

[0199] In an optional embodiment, the first motor control submodule can further comprise:

[0200] A first motor control unit is configured to determine that the rear axle of the vehicle needs to reduce torque when the equivalent shaft speed difference is greater than zero.

[0201] A second motor control unit is configured to determine that the front axle of the vehicle needs to reduce torque when the equivalent shaft speed difference is less than zero.

[0202] In an optional embodiment, the second motor control submodule can comprise:

[0203] A third motor control unit is configured to control the front axle torque to increase according to the driving shaft torque adjustment value, or control the rear axle torque to increase according to the driving shaft torque adjustment value when the front axle of the vehicle needs to reduce torque.

[0204] In an optional embodiment, the third motor control unit can comprise:

[0205] A front axle torque adjustment threshold value acquisition unit is configured to acquire a front axle torque adjustment threshold value.

[0206] A front axle torque value increasing unit is configured to reduce the rear axle torque according to the driving shaft torque adjustment value and increase the front axle torque value according to the driving shaft torque adjustment value if the driving shaft torque adjustment value is less than or equal to the front axle torque adjustment threshold value.

[0207] a rear axle torque decreasing unit, configured to increase the front axle torque value according to the front axle torque adjustment threshold value and decrease the rear axle torque according to the drive axle torque adjustment value if the drive axle torque adjustment value is greater than the front axle torque adjustment threshold value.

[0208] In an alternative embodiment, the third motor control unit comprises:

[0209] a rear axle torque adjustment threshold value acquisition unit, configured to acquire a rear axle torque adjustment threshold value;

[0210] a rear axle torque increasing unit, configured to decrease the front axle torque according to the drive axle torque adjustment value and increase the rear axle torque according to the drive axle torque adjustment value if the drive axle torque adjustment value is less than or equal to the rear axle torque adjustment threshold value.

[0211] a front axle torque decreasing unit, configured to increase the rear axle torque value according to the rear axle torque adjustment threshold value and decrease the front axle torque according to the drive axle torque adjustment value if the drive axle torque adjustment value is greater than the rear axle torque adjustment threshold value.

[0212] In an alternative embodiment, the control module 303 can comprise:

[0213] a torque lower limit value determination sub-module, configured to determine a front axle and / or rear axle torque lower limit value;

[0214] a torque adjustment sub-module, configured to adjust the output torque of the motor of the drive axle to the torque lower limit value if the current output torque of the motor of the drive axle is less than or equal to the torque lower limit value after decreasing the drive axle torque adjustment value.

[0215] In an alternative embodiment, the torque lower limit value determination sub-module can comprise:

[0216] a first torque lower limit value determination unit, configured to determine the front axle and / or rear axle torque lower limit value as zero when the absolute value of the equivalent axle speed difference is less than a third equivalent axle speed difference threshold value;

[0217] a second torque lower limit value determination unit, configured to determine the front axle and / or rear axle torque lower limit value as a torque limit value of motor reverse rotation when the absolute value of the equivalent axle speed difference is greater than the third equivalent axle speed difference threshold value; the third equivalent axle speed difference threshold value is greater than the first equivalent axle speed difference threshold value.

[0218] The application can control the slip of the wheels through the shaft speed difference between the front drive shaft and the drive shaft, and does not need to control the wheel slip according to the speed, realizes the double-shaft closed-loop control in the full speed range, finds the wheel slip through the shaft speed difference, realizes the faster control, can timely control the motor wheel speed difference between the two shafts, and avoids the unnecessary power loss.

[0219] The application further discloses an electronic device, including a processor, a memory, and a computer program stored on the memory and capable of running on the processor, and when the computer program is executed by the processor, the steps of the vehicle torque control method are realized.

[0220] The application further discloses a computer readable storage medium, and the computer readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the vehicle torque control method are realized.

[0221] The application further discloses a vehicle, and the vehicle includes a front motor, a rear motor and a controller, and the controller is used to realize the steps of the vehicle torque control method.

[0222] For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the related parts refer to the part of the method embodiment.

[0223] Each embodiment in the specification is described in a progressive manner, and each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to.

[0224] Those skilled in the art should understand that the embodiments of the application can be provided as a method, a device or a computer program product. Therefore, the embodiments of the application can adopt a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware aspects. Moreover, the embodiments of the application can adopt the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program codes.

[0225] The embodiments of the present application are described with reference to the flowchart illustrations and / or block diagrams of the methods, terminal devices (systems) and computer program products according to the embodiments of the present 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 terminal devices to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal devices, create means for implementing the functions specified in the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams.

[0226] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal devices to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams.

[0227] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal devices, such that a series of operational steps are carried out on the computer or other programmable terminal devices to produce a computer implemented process so that the instructions executed on the computer or other programmable terminal devices provide steps for implementing the functions specified in the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams.

[0228] Although preferred embodiments of the present application have been described, those skilled in the art will be able to make additional modifications and variations to these embodiments without departing from the scope of the present application. Accordingly, the appended claims are intended to encompass all such modifications and variations as falling within the scope of the present application.

[0229] Finally, it is to be understood that the phraseology or terminology such as "first" and "second" etc. used herein is merely intended to differentiate one entity or operation from another entity or operation, without necessarily requiring or implying any actual such relationship or order between such entities or operations. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0230] The vehicle torque control method, device, electronic device and storage medium provided by the present application are described in detail above, and the principles and implementation manners of the present application are described by applying specific examples. The above description of the embodiments is only used to help understand the method of the present application and its core idea. Meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation manners and application ranges will be changed, and the above description of the present application should not be understood as a limitation.

Claims

1. A vehicle torque control method applied to a four-wheel drive vehicle, characterized by, The method comprises the following steps: obtaining a front axle equivalent speed and a rear axle equivalent speed of a vehicle, and determining an equivalent speed difference between the front axle and the rear axle of the vehicle according to the front axle equivalent speed and the rear axle equivalent speed; determining a drive axle torque adjustment value when an absolute value of the equivalent speed difference is greater than a first equivalent speed difference threshold value; adjusting an output torque of a motor of the drive axle according to the drive axle torque adjustment value; wherein the adjusting of the output torque of the motor of the drive axle according to the drive axle torque adjustment value comprises: continuously determining whether the absolute value of the equivalent speed difference is greater than the first equivalent speed difference threshold value, and when the absolute value of the equivalent speed difference is greater than the first equivalent speed difference threshold value, determining an adjustment step according to an actual torque of a motor of another drive axle, and when the adjustment step is less than the torque adjustment value, reducing the drive axle torque by a preset step, and when the adjustment step is greater than the torque adjustment value, reducing the drive axle torque by the torque adjustment value as a step, until the absolute value of the equivalent speed difference is less than a second equivalent difference threshold value, and when it is less than the second equivalent difference threshold value, stopping the adjustment, wherein the first equivalent speed difference threshold value is greater than the second equivalent difference threshold value; wherein the adjusting of the output torque of the motor of the drive axle according to the drive axle torque adjustment value comprises: determining a front axle and / or rear axle torque lower limit value as zero when the absolute value of the equivalent speed difference is less than a third equivalent speed difference threshold value; determining a front axle and / or rear axle torque lower limit value as a torque limit value of motor reverse rotation when the absolute value of the equivalent speed difference is greater than the third equivalent speed difference threshold value; the third equivalent speed difference threshold value is greater than the first equivalent speed difference threshold value; if the current output torque of the motor of the drive axle is less than or equal to the torque lower limit value after the drive axle torque adjustment value is reduced, adjusting the output torque of the motor of the drive axle to the torque lower limit value.

2. The method of claim 1, wherein, The obtaining of the front axle equivalent speed and the rear axle equivalent speed of the vehicle comprises: obtaining the front axle equivalent speed and the rear axle equivalent speed of the vehicle when the vehicle is in a straight running condition.

3. The method of claim 1, wherein, The determining of the equivalent speed difference between the front axle and the rear axle of the vehicle according to the front axle equivalent speed and the rear axle equivalent speed comprises: obtaining a front axle motor speed of the vehicle, and calculating a front axle speed according to the front axle motor speed of the vehicle; obtaining a rear axle motor speed of the vehicle, and calculating a rear axle speed according to the rear axle motor speed of the vehicle; calculating a difference between the rear axle speed and the front axle speed to obtain a first equivalent speed difference.

4. The method of claim 1, wherein, The determining of the equivalent speed difference between the front axle and the rear axle of the vehicle according to the front axle equivalent speed and the rear axle equivalent speed comprises: obtaining a front wheel speed of the vehicle, and calculating a front axle equivalent speed according to the front wheel speed of the vehicle; obtaining a rear wheel speed of the vehicle, and calculating a rear axle equivalent speed according to the rear wheel speed of the vehicle; calculating a difference between the rear axle equivalent speed and the front axle equivalent speed to obtain a second equivalent speed difference.

5. The method of claim 1, wherein, The determining of the equivalent speed difference between the front axle and the rear axle of the vehicle according to the front axle equivalent speed and the rear axle equivalent speed comprises: obtaining a vehicle speed; When the speed of the vehicle is greater than zero and less than or equal to a first preset vehicle speed threshold, a front axle speed is calculated according to a front axle motor speed of the vehicle, a rear axle speed is calculated according to a rear axle motor speed of the vehicle, and a first equivalent axle speed difference is obtained by calculating a difference between the rear axle speed and the front axle speed; When the speed of the vehicle is greater than the first preset vehicle speed threshold, a front axle equivalent axle speed is calculated according to a front wheel speed of the vehicle, a rear axle equivalent axle speed is calculated according to a rear wheel speed of the vehicle, and a second equivalent axle speed difference is obtained by calculating a difference between the rear axle equivalent axle speed and the front axle equivalent axle speed.

6. The method of claim 1, wherein, The adjusting the output torque of the motor of the drive axle according to the drive axle torque adjustment value comprises: When the absolute value of the equivalent axle speed difference is greater than the first equivalent axle speed difference threshold, it is determined that the front axle of the vehicle needs to reduce torque or the rear axle of the vehicle needs to reduce torque; When the rear axle of the vehicle needs to reduce torque, the rear axle torque is controlled to be reduced according to the drive axle torque adjustment value; When the front axle of the vehicle needs to reduce torque, the front axle torque is controlled to be reduced according to the drive axle torque adjustment value.

7. The method of claim 6, wherein, The determining that the front axle of the vehicle needs to reduce torque or the rear axle of the vehicle needs to reduce torque comprises: When the equivalent axle speed difference is greater than zero, it is determined that the rear axle of the vehicle needs to reduce torque; When the equivalent axle speed difference is less than zero, it is determined that the front axle of the vehicle needs to reduce torque.

8. The method of claim 6, wherein, When the rear axle of the vehicle needs to reduce torque, the method further comprises: The front axle torque is controlled to be increased according to the drive axle torque adjustment value; or, When the front axle of the vehicle needs to reduce torque, the method further comprises: The rear axle torque is controlled to be increased according to the drive axle torque adjustment value.

9. The method of claim 8, wherein, The controlling the front axle torque to be increased according to the drive axle torque adjustment value comprises: An front axle torque adjustment threshold is obtained; If the drive axle torque adjustment value is less than or equal to the front axle torque adjustment threshold, the rear axle torque is reduced according to the drive axle torque adjustment value, and the front axle torque is increased according to the drive axle torque adjustment value; If the drive axle torque adjustment value is greater than the front axle torque adjustment threshold, the front axle torque is increased according to the front axle torque adjustment threshold, and the rear axle torque is reduced according to the drive axle torque adjustment value.

10. The method of claim 9, wherein, The controlling the rear axle torque to be increased according to the drive axle torque adjustment value comprises: A rear axle torque adjustment threshold is obtained; If the drive axle torque adjustment value is less than or equal to the rear axle torque adjustment threshold, the front axle torque is reduced according to the drive axle torque adjustment value, and the rear axle torque is increased according to the drive axle torque adjustment value; If the drive axle torque adjustment value is greater than the rear axle torque adjustment threshold, the rear axle torque value is increased according to the rear axle torque adjustment threshold, and the front axle torque is reduced according to the drive axle torque adjustment value.

11. A vehicle torque control device characterized by comprising: It comprises: An information acquisition module is configured to acquire a front axle equivalent axle speed and a rear axle equivalent axle speed of a vehicle; a calculating module configured to determine an equivalent shaft speed difference between the front axle and the rear axle according to the front axle equivalent shaft speed and the rear axle equivalent shaft speed, and determine a drive axle torque adjustment value when an absolute value of the equivalent shaft speed difference is greater than a first equivalent shaft speed difference threshold value; a control module configured to adjust an output torque of a motor of the drive axle according to the drive axle torque adjustment value; wherein the control module comprises: an equivalent shaft speed difference adjusting unit configured to continuously determine whether the absolute value of the equivalent shaft speed difference is greater than the first equivalent shaft speed difference threshold value, and when the absolute value of the equivalent shaft speed difference is greater than the first equivalent shaft speed difference threshold value, determine an adjusting step according to an actual torque of a motor of another drive axle, and when the adjusting step is less than the torque adjustment value, reduce the drive axle torque by a preset step, and when the adjusting step is greater than the torque adjustment value, reduce the drive axle torque by the torque adjustment value, until the absolute value of the equivalent shaft speed difference is less than a second equivalent difference threshold value, and stop adjusting when the absolute value of the equivalent shaft speed difference is less than the second equivalent difference threshold value, wherein the first equivalent shaft speed difference threshold value is greater than the second equivalent difference threshold value; wherein the control module further comprises: a first torque lower limit value determining unit configured to determine a front axle and / or rear axle torque lower limit value as zero when the absolute value of the equivalent shaft speed difference is less than a third equivalent shaft speed difference threshold value; a second torque lower limit value determining unit configured to determine the front axle and / or rear axle torque lower limit value as a torque limit value of motor reverse rotation when the absolute value of the equivalent shaft speed difference is greater than the third equivalent shaft speed difference threshold value, wherein the third equivalent shaft speed difference threshold value is greater than the first equivalent shaft speed difference threshold value; a torque adjusting sub-module configured to adjust the output torque of the motor of the drive axle to the torque lower limit value if the current output torque of the motor of the drive axle is less than or equal to the torque lower limit value after reducing the drive axle torque adjustment value.

12. An electronic device, comprising: A computer program product comprising a processor, a memory, and a computer program stored on the memory and executable on the processor, the computer program being executed by the processor to implement the steps of the vehicle torque control method according to any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that, A computer program product stored on a computer readable storage medium, the computer program being executed by a processor to implement the steps of the vehicle torque control method according to any one of claims 1 to 10.

14. A vehicle characterized by comprising: A vehicle comprising a front motor, a rear motor, and a controller configured to implement the steps of the vehicle torque control method according to any one of claims 1 to 10.

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