A motor torque adjusting method of a vehicle, a processing device and a vehicle

Abstract

The application relates to a motor torque adjusting method of a vehicle, a processing device and the vehicle, and is characterized in that the motor torque adjusting method of the vehicle comprises the following steps: acquiring a steering wheel angle, a real-time yaw angular velocity and a running speed of the vehicle; if the steering wheel angle is greater than a predetermined angle value, it is determined that the vehicle is in a turning state; a target yaw angular velocity of the vehicle is calculated; a difference between the real-time yaw angular velocity and the target yaw angular velocity is a stability coefficient, and if the stability coefficient is greater than a preset stability threshold value, torque stability adjusting is performed on the motor of the vehicle. The method can monitor the turning and stability of the vehicle, and timely adjusts the front and rear axle motor torques of the vehicle during the turning of the vehicle, so that the safety and controllability of the vehicle are improved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of vehicle control, and more particularly, to a motor torque adjustment method of a vehicle, a processing device and a vehicle. BACKGROUND

[0002] In recent years, with the development trend of energy saving and emission reduction technology, electric vehicles have gradually become the main carrier of road transportation. The power system of electric vehicles is essentially different from that of fuel vehicles, which also requires the corresponding update of the vehicle driving control technology to adapt to the power control of electric vehicles.

[0003] During vehicle driving, the output torque of different driving motors of the vehicle has a great influence on the stability of vehicle driving, especially in the case of vehicle turning. If the output torque of different driving motors is not appropriate, it may cause obvious shaking and shaking of the vehicle driving. For electric vehicles, the output torque of each motor can be adjusted to improve the stability of vehicle driving. Appropriate power output is related to the current driving condition of the vehicle, but there is no accurate method in the current field to monitor the driving condition of the vehicle and adjust the front and rear motor torque. How to monitor and adjust the stability of the vehicle is a technical problem to be solved in the field. SUMMARY

[0004] An object of the present disclosure is to provide a motor torque adjustment method capable of monitoring and adjusting the stability of a vehicle.

[0005] According to a first aspect of the present disclosure, a motor torque adjustment method of a vehicle is provided. The method comprises:

[0006] obtaining a steering wheel angle, a real-time yaw rate and a driving speed of the vehicle;

[0007] if the steering wheel angle is greater than a predetermined angle value, it is determined that the vehicle is in a turning state;

[0008] calculating a target yaw rate of the vehicle;

[0009] The difference between the real-time yaw rate and the target yaw rate is a stability coefficient, and if the stability coefficient is greater than a preset stability threshold, the motor of the vehicle is subjected to torque stabilization adjustment.

[0010] Optionally, after determining that the vehicle is in a turning state, before the torque stabilization adjustment of the motor of the vehicle, the method further comprises:

[0011] the motor of the vehicle is subjected to turning reinforcement adjustment.

[0012] Optionally, the turning strengthening adjustment comprises increasing the output torque of the rear motor and / or decreasing the output torque of the front motor.

[0013] Optionally, the turning strengthening adjustment comprises increasing the output torque of the rear motor and decreasing the output torque of the front motor, and keeping the total output torque of the front motor and the rear motor unchanged.

[0014] Optionally, the increasing the output torque of the rear motor and decreasing the output torque of the front motor comprises: obtaining the front axle motor torque and the rear axle motor torque of the vehicle, determining a first torque adjustment step length coefficient;

[0015] determining a second torque adjustment step length coefficient according to the absolute value of the steering wheel angle, and calculating a first single-step torque adjustment step length according to the first torque adjustment step length coefficient and the second torque adjustment step length coefficient;

[0016] increasing the output torque of the rear motor and decreasing the output torque of the front motor in a step-by-step manner according to the first single-step torque adjustment step length.

[0017] Optionally, the torque stabilizing adjustment comprises increasing the output torque of the front motor and / or decreasing the output torque of the rear motor.

[0018] Optionally, the torque stabilizing adjustment comprises increasing the output torque of the front motor and decreasing the output torque of the rear motor, and keeping the total output torque of the front motor and the rear motor unchanged.

[0019] Optionally, the increasing the output torque of the front motor and decreasing the output torque of the rear motor comprises:

[0020] determining a third torque adjustment step length coefficient according to the absolute value of the steering wheel angle, determining a fourth torque adjustment step length coefficient according to the stability coefficient, and determining a second single-step torque adjustment step length for the motor according to the third torque adjustment step length coefficient and the fourth torque adjustment step length coefficient;

[0021] increasing the output torque of the front motor and decreasing the output torque of the rear motor in a step-by-step manner according to the second single-step torque adjustment step length.

[0022] Optionally, the calculating the target yaw angular velocity of the vehicle comprises: obtaining vehicle fixed parameters;

[0023] calculating the target yaw angular velocity according to the vehicle fixed parameters, the driving speed, the steering wheel angle and a two-degree-of-freedom model of the vehicle.

[0024] According to a second aspect of the present disclosure, a processing device applying the above-mentioned motor torque adjustment method of the vehicle is provided. The processing device comprises:

[0025] The signal acquisition module is configured to acquire the steering wheel angle, the real-time yaw rate of the vehicle, and the driving speed of the vehicle.

[0026] The driver adjustment module is configured to adjust the output torque of the driver.

[0027] The steering recognition module is configured to determine whether the vehicle is in a turning state.

[0028] The detection module is configured to calculate the target yaw rate and the stability coefficient, and determine whether the stability coefficient is greater than a preset stability threshold.

[0029] According to a third aspect of the present disclosure, a vehicle is provided. The vehicle comprises the processing device described above, and is configured to execute the motor torque adjustment method described above.

[0030] According to a fourth aspect of the present disclosure, a computer readable storage medium is provided. The computer readable storage medium stores a computer program, and the computer program is configured to implement the motor torque adjustment method described above when executed.

[0031] One technical effect of the present application is that, by monitoring the real-time yaw rate and the target yaw rate of the vehicle in real time during turning, the stability of the vehicle can be monitored. When the vehicle has a tendency to lose stability, the front and rear axle motor torques of the vehicle can be adjusted in time, thereby improving the safety and controllability of the vehicle.

[0032] In addition, the present disclosure can give the driver more time to control the vehicle when the vehicle is not stable, thereby further ensuring the safety of driving.

[0033] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments thereof, taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0034] The accompanying drawings, which form a part of the specification, illustrate embodiments of the present application and, together with the description, serve to explain the principles of the present application.

[0035] Figure 1 is a schematic diagram of the motor torque adjustment method according to the present disclosure.

[0036] Figure 2 is a flowchart of the motor torque adjustment method according to an embodiment of the present disclosure.

[0037] Figure 3 is a comparison diagram of the actual yaw rate and the target yaw rate after the adjustment method of the present disclosure, and the possible yaw rate without adjustment.

[0038] Figure 4is a module diagram of a processing device of a vehicle according to the present disclosure.

[0039] BRIEF DESCRIPTION OF DRAWINGS

[0040] 0, processing device; 1, signal acquisition module; 2, driver adjustment module; 3, turning identification module; 4, detection module. DETAILED DESCRIPTION

[0041] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions, and numerical values set forth in these embodiments are not limiting to the scope of the present application unless specifically stated otherwise.

[0042] The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the application or its application or uses.

[0043] Techniques and equipment known to those of ordinary skill in the relevant art can not be discussed in detail, but should be considered part of the specification where appropriate.

[0044] In all examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not as a limitation. Thus, other examples of the exemplary embodiments can have different values.

[0045] It should be noted that like reference numerals and letters refer to like items in the several views of the drawings, and as such, further discussion of such items need not be repeated in the subsequent drawings.

[0046] The present disclosure is not only related to the vehicle configuration of the front and rear dual-motor. The driving state judgment proposed by the present disclosure is applicable to other electric vehicles with more driving motors, so the technical solutions designed by the present disclosure can be used regardless of the number and arrangement of the motors. The torque adjustment method proposed by the present disclosure is applicable to other electric vehicles using multiple motors, so the adjustment method is similar but the method of changing the number of front and rear motors is also included in the present disclosure.

[0047] The present application provides a motor torque adjustment method for a vehicle. The motor torque adjustment method can be used to identify whether the vehicle is in a turning state during vehicle driving, and if the vehicle is identified to be in a turning state, the real-time yaw rate and the target yaw rate of the vehicle are compared and monitored, so as to monitor the driving condition of the vehicle. Further, when the driving stability of the vehicle decreases, the motor of the vehicle can be adjusted to improve the stability and driving comfort of the vehicle.

[0048] Reference will now be made to the following Figure 1The principles of the present disclosure are introduced, Figure 1 is a schematic diagram of the motor torque adjustment method according to the present disclosure.

[0049] In step S101, the vehicle can first collect signals to obtain the steering wheel angle, the real-time yaw rate of the vehicle, and the driving speed of the vehicle.

[0050] The steering wheel angle represents the angle position to which the steering wheel is currently turned, which can reflect the turning trend of the vehicle and the deflection of the wheels on the vehicle for turning. The real-time yaw rate of the vehicle represents the angular velocity of the lateral turning of the vehicle body, and if the vehicle is in the turning process, the real-time yaw rate is usually not a value close to 0. The driving speed of the vehicle is the vehicle speed, which is closely related to the stability of the vehicle when turning.

[0051] In step S102, turning recognition can be performed. According to the obtained steering wheel angle and the pre-set angle predetermined value a1, it can be judged whether the vehicle is in a turning state. For example, the angle predetermined value a1 can be 10 degrees. If the steering wheel angle is greater than 10 degrees, it can be judged that the vehicle is in a turning state. In contrast, if the steering wheel angle is less than 10 degrees, it can be considered that the vehicle is in a straight driving process, and slight deflection does not constitute a turning effect.

[0052] In step S103, stability detection can be performed. According to the steering wheel angle, driving speed, and other data, the target yaw rate of the vehicle can be calculated.

[0053] The calculation process can use a two-degree-of-freedom model of the vehicle or other forms. If the two-degree-of-freedom model of the vehicle is used, the fixed parameters of the vehicle (wheelbase, tire parameters, etc.), the steering wheel angle, and the speed are substituted into the model to calculate the target yaw rate. It should be noted that the use of the two-degree-of-freedom model of the vehicle to calculate the target yaw rate is prior art, which will not be described here.

[0054] The target yaw rate is a relatively ideal value. Under the conditions of the current steering wheel angle, driving speed, and other factors, if the real-time yaw rate of the vehicle is basically consistent with the target yaw rate, it indicates that the driving state of the vehicle is relatively stable, and it is not easy to appear understeering or oversteering and other unstable phenomena.

[0055] The difference between the detected real-time yaw rate and the target yaw rate is calculated to obtain the difference K between the real-time yaw rate and the target yaw rate, denoted as the stability coefficient K.

[0056] A preset stability threshold a2 is pre-set for the method. If the stability coefficient K is greater than the preset stability threshold a2, it indicates that the vehicle's current driving state is unstable, such as oversteer or understeer. Therefore, the process proceeds to step S104, where torque stabilization is performed on the vehicle's motor to bring the real-time yaw rate closer to the target yaw rate.

[0057] In the technical solution disclosed herein, the phenomenon that K is greater than a2 is likely to occur when the steering wheel angle is greater than a1.

[0058] Figure 2 is a flow chart of a motor torque adjustment method according to an embodiment of the present disclosure.

[0059] like Figure 2 As shown, in step S201, sensors are used to measure the real-time steering wheel angle δ, yaw angular velocity ω, and driving speed v of the vehicle during driving. Preferably, the collected data are processed by commonly used filtering methods, such as mean filtering, smoothing filtering, Kalman filtering, etc., to remove noise signals.

[0060] In step S202, it is determined whether the steering wheel angle δ is greater than a first predetermined value a1. If it is greater than a1, the vehicle is considered to be turning and the process proceeds to step S203. If it is not greater than a1, the vehicle is considered to be moving straight and the process returns to step S201 to continue signal acquisition.

[0061] Alternatively, it may be determined whether the steering wheel angle δ is greater than a1 for a predetermined period of time. If so, the vehicle is considered to be turning. If not, the vehicle is considered to be traveling straight. This optional method can more accurately determine whether the vehicle is turning.

[0062] Optionally, in the technical solution disclosed herein, if the vehicle is in a turning state, cornering enhancement adjustment can be implemented to prevent insufficient torque distribution during cornering, which could result in unsatisfactory cornering. Cornering enhancement adjustment is typically implemented before cornering stabilization adjustment. For example, understeer is often prone to occur when a vehicle first begins turning. Cornering enhancement adjustment allows for optimal torque distribution, enabling the vehicle to quickly establish an effective cornering process.

[0063] Torque stabilization often occurs after the vehicle enters a turn or nears the end of a turn. During this phase, excessive real-time yaw rate can cause the vehicle to oversteer, necessitating torque stabilization. The disclosed technical solution monitors the relationship between the real-time yaw rate and the target yaw rate in real time, thereby reducing the possibility of vehicle instability.

[0064] Alternatively, the cornering enhancement adjustment can be performed by increasing the output torque of the rear motor or reducing the output torque of the front motor, or both, to better adjust the vehicle's yaw rate.

[0065] Specifically, by simultaneously increasing the rear motor's output torque and decreasing the front motor's output torque, the combined output torque of the front and rear motors remains constant. In other words, the vehicle's total output torque remains unchanged, simply redistributing the front and rear torques. This adjustment method is the most stable and consistent with the fact that the vehicle's total output power typically remains stable during cornering.

[0066] like Figure 2 As shown, for the adjustment method of increasing and decreasing the rear and front motors simultaneously, if it is determined in step S202 that the vehicle is in a turning state, the front axle motor torque is adjusted to the rear axle motor to prevent the vehicle from understeering. In step S203, the first single-step torque adjustment step length step1 is calculated according to the following formula:

[0067] step1=c1*c2。

[0068] In the formula, c1 is the first torque adjustment step coefficient, and its specific value can be determined by looking up the table according to the actual values ​​of the current front and rear axle motors; c2 is the second torque adjustment step coefficient, which is proportional to the absolute value of the steering wheel angle. According to the absolute value of the steering wheel angle, the second torque adjustment step coefficient c2 can be obtained through a preset corresponding relationship (such as a calculation formula).

[0069] Next, in step S204 , the front and rear axle motor torques are adjusted according to step 1 calculated in step S203 .

[0070] Optionally, for cornering enhancement adjustment, specifically, the front axle motor torque T f Adjust to: T f =T fl -step1, T fl is the front axle motor torque at the previous moment. a Under the condition of no change, the rear axle motor torque T r Adjust to T r =T a -T f .

[0071] The torque stabilization adjustment may include increasing the output torque of the front motor and / or reducing the output torque of the rear motor.

[0072] For example, in an alternative embodiment, the total motor torque T a When the output remains unchanged, the front axle motor torque Tf Adjust T f = T a -T r .

[0073] In step S205, the target yaw rate ω T .

[0074] In step S206, the difference K (stability coefficient) between the actual yaw rate and the target yaw rate is calculated.

[0075] In step S207, it is determined whether K is greater than a preset stability threshold a2. If K is greater than a2, it is considered that the vehicle has or will have excessive steering, and the vehicle has the possibility of instability, and step S208 is entered. If K is not greater than a2, it is considered that the vehicle has good stability, and no intervention is made, and the signal acquisition continues in step S201.

[0076] If the vehicle stability is poor or will be unstable, torque stability adjustment is performed. The torque stability adjustment includes increasing the output torque of the front motor and / or reducing the output torque of the rear motor. For example, the rear axle motor torque is adjusted to the front axle. In step S208, the second single-step torque adjustment step step2 is calculated according to the following formula:

[0077] step2 = c3 * c4;

[0078] In the formula, c3 is a third single-step torque adjustment step coefficient, which is determined according to the absolute value of the steering wheel angle. When the steering wheel angle is large, c3 also increases accordingly, and c3 is positively correlated with the steering wheel angle, and the specific value can be determined by a preset corresponding relationship (such as a calculation formula). c4 is a fourth single-step torque adjustment step coefficient, which can be determined according to K. The specific value can be determined by a preset corresponding relationship (such as a calculation formula or a lookup table). When K is large, it indicates that the actual yaw rate deviates from the target yaw rate to a large extent, and c4 increases within a certain range.

[0079] In step S209, the front and rear axle motor torques are adjusted according to step2 calculated in step S208. Specifically, the front axle motor torque T f is adjusted to T f = T fl + step2, and T fl is the front axle motor torque at the previous time. In the case where the total motor torque T a is unchanged, the rear axle motor torque T r is adjusted to T r = T a -T f .

[0080] It should be understood that although the torque method exemplified by the present disclosure is to keep the total motor torque unchanged and adjust the rear axle motor torque to the front axle motor, the present disclosure is not limited thereto, but can also separately increase the front motor torque or separately reduce the front and rear motor torque or increase the front motor torque and reduce the rear motor torque in the case of changing the total motor torque.

[0081] The reference range and reference value of each parameter are listed in Table 1, and the preset value and adjustment coefficient should be obtained by calibration. The values in the table are the usual reference range. Those skilled in the art should understand that the purpose of setting the preset value is to eliminate the state misjudgment caused by data fluctuation.

[0082] Reference range and reference value of each parameter in Table 1

[0083]

[0084]

[0085] Figure 3 The comparison diagram of the actual yaw rate after using the adjustment method of the present disclosure, the target yaw rate and the possible yaw rate without adjustment.

[0086] From Figure 3 It can be seen that the vehicle has a tendency to lose stability at point A, and timely intervention through torque adjustment slows down the rising rate of the actual yaw rate curve, reduces the increasing speed of the actual yaw rate, and increases the controllability of the vehicle. Taking the highest point of the black solid line and the black dashed line (thicker dashed line) as an example, the driver or other control modules can gain Δt time to control the vehicle, further ensuring the safety of driving.

[0087] According to the method of the present disclosure, the vehicle turning and its stability can be monitored, and the front and rear axle motor torques of the vehicle are adjusted in time during the vehicle turning, thereby improving the safety and controllability of the vehicle.

[0088] Optionally, the torque stabilization adjustment includes increasing the output torque of the front motor and / or reducing the output torque of the rear motor.

[0089] Taking a vehicle with a front drive and a rear drive as an example, when the vehicle is in a straight driving state, the torque distribution of the two drives is:

[0090] The front drive torque T f is the total output torque T a multiplied by the straight driving distribution coefficient;

[0091] The rear drive torque T r is the total output torque T a minus the front drive torque T f .

[0092] Optionally, the torque stabilizing adjustment comprises: increasing the output torque of the front motor and decreasing the output torque of the rear motor, and keeping the total output torque of the front motor and the rear motor unchanged.

[0093] Optionally, the increasing the output torque of the front motor and the decreasing the output torque of the rear motor comprises:

[0094] determining a third torque adjustment step length coefficient according to the absolute value of the steering wheel angle, determining a fourth torque adjustment step length coefficient according to the stabilizing coefficient, determining a second single-step torque adjustment step length of the motor according to the third torque adjustment step length coefficient and the fourth torque adjustment step length coefficient; increasing the output torque of the front motor and decreasing the output torque of the rear motor in a step-by-step manner according to the second single-step torque adjustment step length.

[0095] Optionally, the calculating the target yaw rate of the vehicle comprises: obtaining vehicle fixed parameters; calculating the target yaw rate according to the vehicle fixed parameters, the vehicle speed, the steering wheel angle and the two-degree-of-freedom model of the vehicle.

[0096] The application also provides a processing device 100 applying the above-mentioned motor torque adjustment method of the vehicle. The processing device 100 can monitor the yaw rate in real time during the driving of the vehicle, compare it with the target yaw rate to obtain a stabilizing coefficient, compare the stabilizing coefficient with a preset stabilizing threshold, and adjust the torque of the motor of the vehicle to stabilize. As shown in the figure, the processing device 100 comprises: Figure 4

[0097] The signal acquisition module 1 is used to obtain the steering wheel angle, the real-time yaw rate and the driving speed of the vehicle.

[0098] The driver adjustment module 2 is used to adjust the output torque of the driver.

[0099] The steering recognition module 3 is used to determine whether the vehicle is in a turning state.

[0100] The detection module 4 is used to calculate the target yaw rate and the stabilizing coefficient, and judge whether the stabilizing coefficient is greater than the preset stabilizing threshold.

[0101] ​The processing device 100 provided in the present application, after the signal acquisition module 1 obtains the steering wheel angle, vehicle yaw rate and driving speed, transmits the signals to the steering recognition module 3, and the steering recognition module 3 determines whether the vehicle is in a turning state based on the obtained signals. If the vehicle is in a turning state, the detection module 4 calculates the current target yaw rate and stability coefficient, judges whether the stability coefficient is greater than the preset stability threshold, and transmits the judgment result to the driver adjustment module 2, and finally the driver adjustment module 2 adjusts the front and rear axle motor torque of the vehicle according to the judgment result.

[0102] Based on the above-mentioned processing device 100, by monitoring the real-time yaw rate and the target yaw rate of the vehicle during turning, the stability of the vehicle can be monitored. When the vehicle has a tendency to lose stability, the front and rear axle motor torque of the vehicle can be adjusted in time. For example, when the real-time yaw rate is greater than the target yaw rate, that is, the steering is excessive, the rear axle motor torque of the vehicle is adjusted to the front axle motor torque of the vehicle (including reducing the rear axle motor torque of the vehicle and / or increasing the front axle motor torque of the vehicle), so as to avoid the risk of roll caused by excessive turning of the vehicle, and improve the driving safety and controllability of the vehicle. When the real-time yaw rate is less than the target yaw rate, that is, the steering is insufficient, the front axle motor torque of the vehicle is adjusted to the rear axle motor torque of the vehicle (including increasing the rear axle motor torque of the vehicle and / or reducing the front axle motor torque of the vehicle), so as to increase the turning ability of the vehicle and avoid traffic hazards caused by insufficient turning.

[0103] In addition, the present disclosure can give the driver more time to control the vehicle when the vehicle is not stable, further ensuring the safety of driving.

[0104] The present application also provides a vehicle. The vehicle comprises a front driver and a rear driver, and a controller for executing the above-mentioned motor torque adjustment method of the vehicle to control the output torque of the front driver and the rear driver, thereby improving the stability of the vehicle during turning.

[0105] The present application also provides a computer readable storage medium. The computer readable storage medium stores a computer program which, when executed, implements the above-mentioned motor torque adjustment method of the vehicle.

[0106] In the above embodiments, the focus is on the differences between the various embodiments, and the different optimization features of the various embodiments can be combined to form a better embodiment as long as they are not contradictory. Considering the brevity of the text, further description is omitted here.

[0107] While certain embodiments of the application have been described herein in detail, those skilled in the art will appreciate that modifications can be made without departing from the scope and spirit of the application. The scope of the application is defined by the appended claims.

Claims

1. A method for adjusting the motor torque of a vehicle, characterized in that: include: Get the steering wheel angle, vehicle's real-time yaw rate and driving speed; If the steering wheel angle is greater than a predetermined angle value, it is determined that the vehicle is in a turning state; Calculate the target yaw rate of the vehicle; The difference between the real-time yaw rate and the target yaw rate is a stability coefficient. If the stability coefficient is greater than a preset stability threshold, the torque of the vehicle's motor is adjusted to stabilize. The torque stabilization adjustment includes increasing the output torque of the front motor and / or reducing the output torque of the rear motor, and increasing the output torque of the front motor and / or reducing the output torque of the rear motor includes: determining a third torque adjustment step coefficient according to the absolute value of the steering wheel angle, determining a fourth torque adjustment step coefficient according to the stability coefficient, and determining a second single-step torque adjustment step for the motor according to the third torque adjustment step coefficient and the fourth torque adjustment step coefficient; The output torque of the front motor is increased and the output torque of the rear motor is decreased in a step-by-step manner according to the second single-step torque adjustment step size, while the total output torque of the front motor and the rear motor is kept unchanged.

2. The method according to claim 1, characterized in that After determining that the vehicle is in a turning state, and before performing torque stabilization adjustment on the motor of the vehicle, the method further includes: Performs cornering enhancement adjustments on the vehicle's motor.

3. The method according to claim 2, characterized in that The cornering enhancement adjustment includes increasing the output torque of the rear motor and / or reducing the output torque of the front motor.

4. The method according to claim 3, characterized in that The cornering enhancement adjustment includes: increasing the output torque of the rear motor and reducing the output torque of the front motor, and keeping the total output torque of the front motor and the rear motor unchanged.

5. The method according to claim 4, wherein increasing the output torque of the rear motor and reducing the output torque of the front motor comprises: Obtaining the front axle motor torque and the rear axle motor torque of the vehicle, and determining a first torque adjustment step coefficient; determining a second torque adjustment step coefficient according to the absolute value of the steering wheel angle, and calculating a first single-step torque adjustment step length according to the first torque adjustment step coefficient and the second torque adjustment step coefficient; The output torque of the rear motor is increased and the output torque of the front motor is decreased in a step-by-step manner according to the first single-step torque adjustment step size.

6. The method according to claim 1, characterized in that Calculating the target yaw rate of the vehicle includes: acquiring vehicle fixed parameters; The target yaw rate is calculated according to vehicle fixed parameters, the driving speed, the steering wheel angle and a two-degree-of-freedom model of the vehicle.

7. A processing device using the motor torque adjustment method for a vehicle according to any one of claims 1 to 6, characterized in that: include: Signal acquisition module, used to obtain the steering wheel angle, vehicle's real-time yaw rate and driving speed; A driver adjustment module is used to adjust the driver output torque; A turning recognition module is used to determine whether the vehicle is in a turning state; The detection module is used to calculate the target yaw angular velocity and stability coefficient, and determine whether the stability coefficient is greater than a preset stability threshold.

8. A vehicle, characterized in that: The vehicle comprises the processing device according to claim 7, configured to execute the motor torque adjustment method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, wherein when the computer program is executed, the motor torque adjustment method according to any one of claims 1 to 6 is implemented.

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