Torque distribution method, device, storage medium and vehicle

Abstract

The application provides a torque distribution method and device, a storage medium and a vehicle, and belongs to the technical field of vehicles. In the case that the current vehicle motor efficiency is less than an efficiency threshold, a reference motor and an adjusting motor are determined in the front axle motor and the rear axle motor, and a reference torque of the reference motor and a vehicle demand torque of the vehicle are determined. The target torque of the adjusting motor can be determined based on the vehicle demand torque and the reference torque. Then, in the case that the reference torque and the target torque meet a torque adjustment condition, the reference motor is controlled to output torque according to the reference torque, and the adjusting motor is controlled to output torque according to the target torque. In the application, when the vehicle motor efficiency is detected to be low, the torque cooperation between the reference motor and the adjusting motor can make the vehicle run in a high-efficiency range, thereby effectively improving the comprehensive efficiency of the motor while meeting the driving demand of the vehicle.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a torque distribution method, device, storage medium, and vehicle. Background Technology

[0002] Currently, four-wheel drive configuration with front and rear dual motors has become the standard configuration for more and more electric vehicles. Unlike two-wheel drive electric vehicles, four-wheel drive electric vehicles need to distribute torque between the front and rear axles.

[0003] However, while traditional torque distribution methods for front and rear dual motors can meet the vehicle's driving needs to some extent, they cannot guarantee that the motors operate in a high-efficiency range, resulting in poor energy-saving performance. Summary of the Invention

[0004] This application provides a torque distribution method, device, storage medium, and vehicle to solve the problem that vehicles equipped with electric four-wheel drive systems have difficulty ensuring that the motor operates in the high-efficiency range, resulting in poor energy-saving performance of the motor.

[0005] To solve the above problems, this application adopts the following technical solution:

[0006] In a first aspect, embodiments of this application provide a torque distribution method, the method comprising:

[0007] When the current vehicle motor efficiency is less than the efficiency threshold, a reference motor and an adjusting motor are determined among the front axle motor and the rear axle motor.

[0008] Determine the reference torque of the reference motor and the required torque for the entire vehicle;

[0009] Based on the required torque of the vehicle and the reference torque, the target torque of the regulating motor is determined;

[0010] When the reference torque and the target torque meet the torque adjustment conditions, the reference motor is controlled to output torque according to the reference torque, and the adjustment motor is controlled to output torque according to the target torque.

[0011] In one embodiment of this application, when the current vehicle motor efficiency is less than an efficiency threshold, the step of determining a reference motor and an adjusting motor among the front axle motor and the rear axle motor includes:

[0012] When the current overall vehicle motor efficiency is less than the efficiency threshold, obtain the vehicle's motor parameters and / or operating condition information;

[0013] Based on motor parameters and / or operating condition information, the reference motor and the regulating motor are determined among the front axle motor and the rear axle motor.

[0014] In one embodiment of this application, the motor parameters include a first rated power of the front axle motor and a second rated power of the rear axle motor; the operating condition information includes front axle load and rear axle load;

[0015] The step of determining the reference motor and the regulating motor among the front axle motor and the rear axle motor based on motor parameters and / or operating condition information includes:

[0016] When the first rated power and the second rated power are different, the motor corresponding to the larger value of the first rated power and the second rated power is determined as the reference motor, and the motor corresponding to the smaller value of the first rated power and the second rated power is determined as the regulating motor;

[0017] When the first rated power and the second rated power are the same, the motor corresponding to the larger value of the front axle load and the rear axle load is determined as the reference motor, and the motor corresponding to the smaller value of the front axle load and the rear axle load is determined as the regulating motor.

[0018] In one embodiment of this application, the step of determining the reference torque of the reference motor includes:

[0019] Obtain the motor efficiency curve of the reference motor; the motor efficiency curve represents the different motor efficiencies of the reference motor under different torques and different speeds;

[0020] In the motor efficiency curve graph, the target motor efficiency curve corresponding to the preset efficiency value is determined;

[0021] Based on the current vehicle speed, determine the first target rotational speed of the reference motor;

[0022] In the target motor efficiency curve, the torque corresponding to the first target speed is determined as the reference torque.

[0023] In one embodiment of this application, the step of determining the target torque of the regulating motor based on the vehicle's required torque and the reference torque includes:

[0024] The difference between the required torque of the vehicle and the reference torque is determined as the target torque of the regulating motor.

[0025] In one embodiment of this application, before the steps of controlling the reference motor to output torque according to the reference torque and controlling the regulating motor to output torque according to the target torque when the reference torque and the target torque meet the torque adjustment conditions, the method further includes:

[0026] The target motor efficiency is determined based on the reference torque and the target torque;

[0027] If the target motor efficiency is greater than the current vehicle motor efficiency, the reference torque and the target torque are determined to satisfy the torque adjustment condition.

[0028] In one embodiment of this application, the step of determining the target motor efficiency based on the reference torque and the target torque includes:

[0029] Determine the first target speed corresponding to the reference motor and the second target speed corresponding to the regulating motor;

[0030] Based on the reference torque and the first target speed, a first estimated motor efficiency is determined; and based on the target torque and the second target speed, a second estimated motor efficiency is determined.

[0031] Based on the first estimated motor efficiency and the second estimated motor efficiency, the target motor efficiency is determined.

[0032] In one embodiment of this application, the step of controlling the regulating motor to output torque according to the target torque includes:

[0033] When the target torque is positive, the regulating motor is controlled to drive the vehicle according to the target torque;

[0034] When the target torque is negative, the regulating motor is controlled to perform energy recovery operation according to the target torque.

[0035] Secondly, based on the same inventive concept, embodiments of this application provide a torque distribution device, the device comprising:

[0036] The motor determination module is used to determine the reference motor and the regulating motor among the front axle motor and the rear axle motor when the current vehicle motor efficiency is less than the efficiency threshold.

[0037] The first torque determination module is used to determine the reference torque of the reference motor and the vehicle's overall torque requirement.

[0038] The second torque determination module is used to determine the target torque of the regulating motor based on the vehicle's required torque and the reference torque.

[0039] The torque adjustment module is used to control the reference motor to output torque according to the reference torque and the adjustment motor to output torque according to the target torque when the reference torque and the target torque meet the torque adjustment conditions.

[0040] In one embodiment of this application, the motor determination module includes:

[0041] The information acquisition submodule is used to acquire the motor parameters and / or operating condition information of the vehicle when the current overall vehicle motor efficiency is less than the efficiency threshold.

[0042] The motor determination submodule is used to determine the reference motor and the regulating motor among the front axle motor and the rear axle motor based on motor parameters and / or operating condition information.

[0043] In one embodiment of this application, the motor parameters include a first rated power of the front axle motor and a second rated power of the rear axle motor; the operating condition information includes front axle load and rear axle load; the motor determination submodule includes:

[0044] The first motor determining unit is used to determine the motor corresponding to the larger value of the first rated power and the second rated power as the reference motor when the first rated power and the second rated power are different, and to determine the motor corresponding to the smaller value of the first rated power and the second rated power as the adjusting motor.

[0045] The second motor determination unit is used to determine the motor corresponding to the larger value of the front axle load and the rear axle load as the reference motor when the first rated power and the second rated power are the same, and to determine the motor corresponding to the smaller value of the front axle load and the rear axle load as the adjustment motor.

[0046] In one embodiment of this application, the first torque determination module includes:

[0047] The curve acquisition submodule is used to acquire the motor efficiency curve of the reference motor; the motor efficiency curve represents the different motor efficiencies of the reference motor under different torques and different speeds;

[0048] The efficiency curve determination submodule is used to determine the target motor efficiency curve corresponding to the preset efficiency value in the motor efficiency curve graph.

[0049] The target speed determination submodule is used to determine the first target speed of the reference motor based on the current vehicle speed.

[0050] The reference torque determination submodule is used to determine the torque corresponding to the target speed as the reference torque in the target motor efficiency curve.

[0051] In one embodiment of this application, the torque distribution device further includes:

[0052] A target motor efficiency determination module is used to determine the target motor efficiency based on the reference torque and the target torque;

[0053] The condition determination module is used to determine whether the reference torque and the target torque satisfy the torque adjustment condition when the target motor efficiency is greater than the current vehicle motor efficiency.

[0054] In one embodiment of this application, the target motor efficiency determination module includes:

[0055] The speed determination submodule is used to determine the first target speed corresponding to the reference motor and the second target speed corresponding to the regulating motor;

[0056] The motor efficiency estimation submodule is used to determine a first estimated motor efficiency based on the reference torque and the first target speed; and to determine a second estimated motor efficiency based on the target torque and the second target speed.

[0057] The target motor efficiency determination submodule is used to determine the target motor efficiency based on the first estimated motor efficiency and the second estimated motor efficiency.

[0058] In one embodiment of this application, the torque adjustment module includes:

[0059] A drive submodule is used to control the regulating motor to drive the vehicle according to the target torque when the target torque is a positive torque;

[0060] An energy recovery submodule is used to control the regulating motor to perform energy recovery operations according to the target torque when the target torque is negative.

[0061] Thirdly, based on the same inventive concept, embodiments of this application provide a storage medium storing machine-executable instructions, which, when executed by a processor, implement the torque distribution method proposed in the first aspect of this application.

[0062] Fourthly, based on the same inventive concept, embodiments of this application provide a vehicle including a processor and a memory; the memory stores machine-executable instructions that can be executed by the processor, and the processor is used to execute the machine-executable instructions to implement the torque distribution method proposed in the first aspect of this application.

[0063] Compared with the prior art, this application has the following advantages:

[0064] This application provides a torque distribution method that, when the overall vehicle motor efficiency is below a threshold, identifies a reference motor and an adjusting motor among the front and rear axle motors. It determines the reference torque of the reference motor and the vehicle's required torque. Based on the required torque and the reference torque, it determines the target torque of the adjusting motor. Then, when the reference torque and target torque meet the torque adjustment conditions, it controls the reference motor to output torque according to the reference torque, and controls the adjusting motor to output torque according to the target torque. This application embodiment can redistribute the required torque between the front and rear axles by coordinating the torque between the reference motor and the adjusting motor when low overall vehicle motor efficiency is detected. Simultaneously, by controlling the reference motor to output torque according to the reference torque, the vehicle can operate within its high-efficiency range, thereby effectively improving the overall motor efficiency while meeting vehicle driving requirements. Attached Figure Description

[0065] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0066] Figure 1 This is a flowchart of the steps of a torque distribution method in one embodiment of this application.

[0067] Figure 2 This is a schematic diagram of the functional modules of a torque distribution device in one embodiment of this application.

[0068] Figure 3 This is a structural schematic diagram of a vehicle according to one embodiment of this application. Detailed Implementation

[0069] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0070] It should be noted that when a vehicle is traveling at medium to high speeds, the efficiency of the drive motor is usually in a high efficiency range. However, when the vehicle is traveling at low speeds, the speed of the drive motor will decrease as the vehicle speed decreases, making the drive motor prone to operating in a low efficiency range. This results in poor energy-saving performance of the vehicle and may even affect the vehicle's range, leading to a poor user experience.

[0071] Currently, traditional torque distribution methods mainly use one or more fixed preset distribution ratios, or rely on vehicle accelerator pedal opening, vehicle speed, and other operating conditions to distribute torque between the front and rear axles. However, these methods can only achieve certain results when the vehicle is traveling at medium to high speeds, and still suffer from low motor efficiency when the vehicle is traveling at low speeds.

[0072] To address the issue of low motor efficiency in vehicles equipped with electric four-wheel drive systems under low-speed conditions, this application aims to provide a torque distribution method. When low overall vehicle motor efficiency is detected, the method can redistribute the required torque between the front and rear axles through torque coordination between a reference motor and an adjusting motor. Simultaneously, by controlling the reference motor to output torque according to the reference torque, the vehicle can operate in the high-efficiency range, thereby effectively improving the overall efficiency of the motor while meeting the vehicle's driving requirements.

[0073] Reference Figure 1 This application illustrates a torque distribution method, which may include the following steps:

[0074] S101: When the current vehicle motor efficiency is less than the efficiency threshold, determine the reference motor and the regulating motor among the front axle motor and the rear axle motor.

[0075] It should be noted that the execution subject in this embodiment can be a computing service device with data processing, network communication and program running functions, or an electronic device with the above functions, such as a vehicle computer, an in-vehicle computer, such as an ECU (Electronic Control Unit), a BCM (Body Control Module), a VCU (Vehicle Control Unit), etc. This embodiment will use VCU as the execution subject for description. It should be noted that this embodiment does not impose specific restrictions on the execution subject.

[0076] It should be further noted that this embodiment applies to vehicles equipped with an electric four-wheel drive system, meaning that the vehicle includes at least a front axle motor and a rear axle motor. For example, the vehicle may be an EV (Electric Vehicle), HEV (Hybrid Electric Vehicle), or PHEV (Plug-in Hybrid Electric Vehicle) equipped with an electric four-wheel drive system.

[0077] In this embodiment, when at least one of the front axle motors and the rear axle motor is in a driving state, the VCU monitors the current vehicle motor efficiency. Then, when the current vehicle motor efficiency is low, the VCU redistributes the required torque of the vehicle between the front and rear axles through the reference motor and the regulating motor, so as to improve the motor efficiency.

[0078] In practice, when only one of the front axle motors and the rear axle motor is in driving mode, the current motor efficiency of that motor can be determined as the current vehicle motor efficiency. When both the front axle motor and the rear axle motor are in driving mode, the first motor efficiency of the front axle motor and the second motor efficiency of the rear axle motor are calculated respectively, and then the current vehicle motor efficiency is calculated based on the first motor efficiency and the second motor efficiency.

[0079] In this embodiment, considering that the vehicle is usually in a low-speed condition when the efficiency of the vehicle motor is low, one of the front axle motor and the rear axle motor can be selected as the reference motor to meet the main driving needs of the vehicle. At the same time, the other motor can be selected as the adjustment motor to complement the torque of the reference motor, so as to at least ensure that the reference motor can work in the high-efficiency range.

[0080] S102: Determine the reference torque of the reference motor and the vehicle's overall torque requirements.

[0081] In this embodiment, due to the different motor characteristics of the front axle motor and the rear axle motor, different reference motors correspond to different reference torques. That is, when the reference motor is the front axle motor, the corresponding reference torque is the first reference torque; when the reference motor is either the front axle motor or the rear axle motor, the corresponding reference torque is the second reference torque.

[0082] It should be noted that the reference torque is the torque value that allows the reference motor to operate within its high-efficiency range. Specifically, a preset efficiency value can be selected within the high-efficiency range so that when the reference motor outputs torque according to the reference torque, the motor efficiency of the reference motor can reach the preset efficiency value.

[0083] In this embodiment, the required torque of the vehicle can be determined based on information such as the accelerator pedal opening. This required torque of the vehicle represents the torque required by the driver to drive the vehicle.

[0084] S103: Determine the target torque for adjusting the motor based on the vehicle's required torque and the reference torque.

[0085] In this embodiment, to ensure the reference motor outputs torque according to the reference torque while maintaining stable vehicle operation, torque adjustment of the motor is necessary. In practice, the difference between the vehicle's required torque and the reference torque can be directly determined as the target torque for adjusting the motor.

[0086] S104: When the reference torque and the target torque meet the torque adjustment conditions, control the reference motor to output torque according to the reference torque, and control the adjustment motor to output torque according to the target torque.

[0087] In this embodiment, to ensure that the vehicle's motor efficiency is improved after torque redistribution, before controlling the output torque of the reference motor and the regulating motor, it is determined whether the reference torque and the target torque meet the torque adjustment conditions. If the reference torque and the target torque do not meet the torque adjustment conditions, it means that the motor efficiency cannot be optimized or the optimization is minimal. In this case, no torque adjustment will be performed, and the motor will be controlled according to the original torque distribution strategy. If the reference torque and the target torque meet the torque adjustment conditions, it means that the motor efficiency can be effectively optimized, and the reference motor and the regulating motor will be directly controlled to output their respective torques.

[0088] It should be noted that the target torque can be either positive or negative. When the target torque is positive, it means that the vehicle's required torque is greater than the reference torque. In this case, the regulating motor will be controlled to drive the vehicle according to the target torque, meaning that the vehicle will be driven jointly by the reference motor and the regulating motor. When the target torque is negative, it means that the vehicle's required torque is less than the reference torque. In this case, the reference motor will drive the vehicle alone, and the regulating motor will be controlled to perform energy recovery operations according to the target torque.

[0089] In one example, the front axle motor and the rear axle motor are the same model of motor. When the front axle motor and the rear axle motor are running at a speed of 1000 r / min and a torque of 100 N·m, the corresponding motor efficiency is 90%, and the efficiency threshold is set to 90%. When the vehicle travels to a low-speed section, where road conditions are poor and the vehicle's torque demand is high (200 N·m), the VCU will control the front axle motor to drive the vehicle independently at a speed of 1000 r / min and 200 N·m. However, the corresponding motor efficiency is only 70%, which is less than the efficiency threshold of 90%. Therefore, the front axle motor is determined as the reference motor with a reference torque of 100 N·m, and the rear axle motor is determined as the adjustment motor with a target torque of 100 N·m. Since the reference motor outputs torque at the reference torque of 100 N·m, and the adjustment motor outputs torque at the target torque of 100 N·m, the motor efficiency of both the reference motor and the adjustment motor can reach 90%, thus optimizing motor efficiency. Therefore, the reference motor and the adjustment motor are actually controlled to output torque at 100 N·m respectively, so that both the reference motor and the adjustment motor are in the high-efficiency range.

[0090] In another example, after the vehicle travels to a low-speed section of road, where road conditions are good and the overall vehicle demand is low (only 30 N·m), the VCU will control the front axle motor to drive the vehicle alone at 30 N·m. However, the corresponding motor efficiency is only 72%. At this point, the reference motor will still be controlled to output torque at a reference torque of 100 N·m, while the regulating motor will perform energy recovery operation at a target torque of -70 N·m. Since the regulating motor's energy recovery efficiency at -70 N·m is 86%, motor efficiency optimization can still be achieved. In this case, the reference motor is actually controlled to output torque at 100 N·m, while the regulating motor is controlled to perform energy recovery operation at -70 N·m. This ensures that the reference motor operates within its high-efficiency range while the regulating motor efficiently recovers excess energy from the reference motor, thereby improving overall motor efficiency and saving energy.

[0091] In this embodiment, the reference motor drives the vehicle according to the reference torque, and the regulating motor drives the vehicle according to the target torque or performs energy recovery. This allows the vehicle to redistribute the required torque between the front and rear axles when the vehicle is in a low-speed condition, regardless of whether the required torque of the vehicle is greater or less than the reference torque. This is achieved through the torque coordination between the reference motor and the regulating motor, enabling the reference motor and the regulating motor to operate in the high-efficiency range as a whole. This effectively improves the overall efficiency of the motors while meeting the vehicle's driving requirements.

[0092] In one feasible implementation, S101 may specifically include the following sub-steps:

[0093] S101-1: When the current vehicle motor efficiency is less than the efficiency threshold, obtain the vehicle's motor parameters and / or operating condition information.

[0094] In this embodiment, since the reference motor is only used to output positive torque to drive the vehicle, when the current vehicle motor efficiency is detected to be less than the efficiency threshold, a suitable motor will be selected from the front axle motor and the rear axle motor as the reference motor based on the vehicle's motor parameters and / or operating condition information, and then the other motor will be used as the adjustment motor.

[0095] S101-2: Based on motor parameters and / or operating condition information, determine the reference motor and the regulating motor among the front axle motor and the rear axle motor.

[0096] In this embodiment, based on the motor parameters, the motor efficiency curves corresponding to the axle motor and the rear axle motor can be obtained. Then, based on the motor efficiency curves, the motor with a larger distribution range of high efficiency intervals can be selected as the reference motor. Based on the operating condition information, the load distribution of the vehicle on the front and rear axles can be obtained. Then, the motor on the side with a larger load can be selected as the reference motor.

[0097] In practical implementation, the selection of the reference motor and the regulating motor can be achieved by combining motor parameters and operating condition information. Specifically, the motor parameters may include the first rated power of the front axle motor and the second rated power of the rear axle motor; the operating condition information includes the front axle load and the rear axle load. S101-2 may specifically include the following sub-steps:

[0098] S101-2-1: When the first rated power and the second rated power are different, the motor corresponding to the larger value of the first rated power and the second rated power shall be determined as the reference motor, and the motor corresponding to the smaller value of the first rated power and the second rated power shall be determined as the regulating motor.

[0099] In this embodiment, considering that motors with larger rated power usually have a larger distribution range of high-efficiency intervals in their corresponding motor efficiency curves, the proportion of high-efficiency intervals for high-power motors can usually reach one-third. Therefore, the motor parameter preference level can be set to be greater than the operating condition information, that is, the motor parameters are preferred. Then, between the first rated power and the second rated power, the motor with the larger rated power is selected as the reference motor, and the motor with the smaller rated power is selected as the regulating motor.

[0100] S101-2-2: When the first rated power and the second rated power are the same, the motor corresponding to the larger value of the front axle load and the rear axle load is determined as the reference motor, and the motor corresponding to the smaller value of the front axle load and the rear axle load is determined as the regulating motor.

[0101] In this embodiment, considering that the rated power of the front axle motor and the rear axle motor of some vehicles is the same, the selection of the reference motor and the adjustment motor will be based on the operating condition information.

[0102] In practice, the front axle load and rear axle load can be calculated based on the vehicle's total load and the current slope the vehicle is on. For example, after obtaining the current slope, the target load distribution ratio corresponding to the current slope can be obtained by looking up a pre-stored two-dimensional lookup table that reflects the mapping relationship between slope and load distribution ratio. Then, based on the target load distribution ratio and the total vehicle load, the front axle load and rear axle load are determined.

[0103] In this embodiment, considering that the increase in load will inevitably lead to an increase in torque demand, the motor corresponding to the side with larger load will have more torque points that can enter the high-efficiency range. Therefore, the motor corresponding to the side with larger load will be selected as the reference motor, and the motor corresponding to the side with smaller load will be selected as the regulating motor.

[0104] In this embodiment, by comprehensively considering motor parameters and operating condition information, the reference motor and the regulating motor can be selected more reasonably, thereby making it easier for the reference motor to operate in the high-efficiency range and facilitating the improvement of the overall vehicle motor efficiency.

[0105] In one feasible implementation, the step of determining the reference torque of the reference motor in S102 may specifically include the following sub-steps:

[0106] S102-1: Obtain the motor efficiency curve of the reference motor.

[0107] In this embodiment, the motor efficiency curve is obtained through prior experimental calibration. This motor efficiency curve characterizes the different motor efficiencies of the reference motor under different torques and speeds. That is, based on the motor efficiency curve, a motor efficiency curve corresponding to any motor efficiency can be obtained. All points on this motor efficiency curve have the same motor efficiency, but points at different positions correspond to different torques and speeds.

[0108] S102-2: In the motor efficiency curve graph, determine the target motor efficiency curve corresponding to the preset efficiency value.

[0109] It should be noted that the preset efficiency value is the desired efficiency level of the reference motor. In other words, by selecting a point on the target motor efficiency curve as the operating point of the reference motor, the reference motor can be made to operate at the preset efficiency value.

[0110] S102-3: Determine the first target speed of the reference motor based on the vehicle's current speed.

[0111] In this embodiment, to ensure the smoothness of vehicle driving and avoid vehicle jerking, the reference motor will be determined to run at the first target speed based on the vehicle's current speed.

[0112] In practice, if there is no gearbox between the reference motor and the wheel on the same side, the first target speed of the reference motor is calculated based on the current vehicle speed; if there is a gearbox between the reference motor and the wheel, the first target speed of the reference motor is calculated based on the current vehicle speed and the current first gear ratio of the gearbox.

[0113] S102-4: In the target motor efficiency curve, the torque corresponding to the target speed is determined as the reference torque.

[0114] In this embodiment, after determining the target speed, the target operating point of the reference motor can be directly found on the target motor efficiency curve, and the torque corresponding to the target operating point can be determined as the reference torque.

[0115] In this embodiment, based on the target motor efficiency curve and the target speed, the target operating point of the reference motor can be quickly and accurately located, thereby controlling the reference motor to operate at the target speed and reference torque. This ensures that the reference motor operates in the high-efficiency range while adapting to the current vehicle speed, thus guaranteeing the vehicle's driving stability and comfort.

[0116] In one feasible implementation, prior to S104, the torque distribution method may further include the following steps:

[0117] S201: Determine the target motor efficiency based on the reference torque and the target torque.

[0118] In this embodiment, to ensure improved vehicle motor efficiency, before controlling the reference motor to output torque according to the reference torque and the regulating motor to output torque according to the target torque, it is determined whether the reference torque and target torque meet the torque adjustment conditions. The torque adjustment conditions can be: the target motor efficiency corresponding to the reference torque and the target torque is greater than the current overall vehicle motor efficiency.

[0119] In a specific implementation, S201 may include the following sub-steps:

[0120] S201-1: Determine the first target speed corresponding to the reference motor and the second target speed corresponding to the adjustment motor.

[0121] In this embodiment, the first target speed corresponding to the base motor and the second target speed corresponding to the regulating motor can be calculated based on the current vehicle speed.

[0122] In the specific implementation, for the reference motor, if there is no gearbox between the reference motor and the wheel on the same side, the first target speed of the reference motor is calculated based on the current vehicle speed; if there is a gearbox between the reference motor and the wheel, the first target speed of the reference motor is calculated based on the current vehicle speed and the current first gear ratio of the gearbox.

[0123] In the specific implementation, for the regulating motor, if there is no gearbox between the regulating motor and the wheel on the same side, the second target speed of the regulating motor is calculated based on the current vehicle speed; if there is a gearbox between the regulating motor and the wheel, the second target speed of the regulating motor is calculated based on the current vehicle speed and the current second gear ratio of the gearbox.

[0124] S201-2: Determine the first estimated motor efficiency based on the reference torque and the first target speed; and determine the second estimated motor efficiency based on the target torque and the second target speed.

[0125] In practical implementation, for a reference motor, the first estimated motor efficiency corresponding to the reference torque and the first target speed can be determined based on the motor efficiency curve of the reference motor; for an adjustable motor, the second estimated motor efficiency corresponding to the target torque and the second target speed can be determined based on the motor efficiency curve of the adjustable motor.

[0126] S201-3: Determine the target motor efficiency based on the first estimated motor efficiency and the second estimated motor efficiency.

[0127] In this embodiment, the target motor efficiency represents the expected combined motor efficiency after torque adjustment by the reference motor and the regulating motor. In a specific implementation, the product of the first estimated motor efficiency and the second estimated motor efficiency can be determined as the target motor efficiency. For example, when both the first estimated motor efficiency and the second estimated motor efficiency are 90%,

[0128] For example, if both the reference motor and the regulating motor drive the vehicle with 90% motor efficiency, then the target motor efficiency = 90% * 90% = 81%; if the reference motor drives the vehicle with 90% motor efficiency and the regulating motor performs energy recovery with 86% motor efficiency, then the target motor efficiency = 90% * 86% = 77.4%.

[0129] S202: When the target motor efficiency is greater than the current vehicle motor efficiency, determine that the reference torque and target torque meet the torque adjustment conditions.

[0130] In this embodiment, when the efficiency of the target motor is detected to be greater than the efficiency of the current vehicle motor, it indicates that the motor efficiency can be optimized after the torque adjustment of the reference motor and the regulating motor, and thus it is determined that the reference torque and the target torque meet the torque adjustment conditions.

[0131] It should be noted that, in order to further optimize motor efficiency significantly and reduce the number of torque adjustments, the torque adjustment condition can be further set as follows: the difference between the target motor efficiency and the current vehicle motor efficiency is greater than the difference threshold, or the ratio between the target motor efficiency and the current vehicle motor efficiency is greater than the ratio threshold, wherein the ratio threshold is a value greater than 1.

[0132] In this embodiment, by setting torque adjustment conditions, unnecessary adjustments can be effectively avoided, thereby ensuring that the overall efficiency of the motor can be greatly improved after torque adjustment by the reference motor and the adjustment motor.

[0133] In this embodiment, when a low-speed, high-torque drive demand is detected in one of the front axle motors and the rear axle motor (i.e., the vehicle's required torque is greater than the reference torque), the reference motor and the regulating motor share the vehicle's required torque, enabling both motors to operate in their efficient range. Conversely, when a low-speed, low-torque drive demand is detected in one of the front axle motors and the rear axle motor (i.e., the vehicle's required torque is less than the reference torque), the reference motor is controlled to increase torque to enter its efficient range, and the regulating motor is controlled to perform energy recovery operations. This efficiently recovers excess energy output by the reference motor, still improving overall motor efficiency and reducing energy loss.

[0134] Secondly, based on the same inventive concept, and referring to... Figure 2 This application provides a torque distribution device 200, which includes:

[0135] The motor determination module 201 is used to determine the reference motor and the adjusting motor among the front axle motor and the rear axle motor when the current vehicle motor efficiency is less than the efficiency threshold.

[0136] The first torque determination module 202 is used to determine the reference torque of the reference motor and the vehicle's overall torque requirement.

[0137] The second torque determination module 203 is used to determine the target torque of the motor based on the vehicle's required torque and the reference torque.

[0138] The torque adjustment module 204 is used to control the reference motor to output torque according to the reference torque and to control the adjustment motor to output torque according to the target torque when the reference torque and the target torque meet the torque adjustment conditions.

[0139] In one embodiment of this application, the motor determination module 201 includes:

[0140] The information acquisition submodule is used to acquire the vehicle's motor parameters and / or operating condition information when the current vehicle motor efficiency is less than the efficiency threshold.

[0141] The motor determination submodule is used to determine the reference motor and the regulating motor among the front axle motor and the rear axle motor based on motor parameters and / or operating condition information.

[0142] In one embodiment of this application, the motor parameters include a first rated power of the front axle motor and a second rated power of the rear axle motor; the operating condition information includes the front axle load and the rear axle load; the motor determination submodule includes:

[0143] The first motor determining unit is used to determine the motor corresponding to the larger value of the first rated power and the second rated power as the reference motor when the first rated power and the second rated power are different, and to determine the motor corresponding to the smaller value of the first rated power and the second rated power as the regulating motor.

[0144] The second motor determination unit is used to determine the motor corresponding to the larger value of the front axle load and the rear axle load as the reference motor, and to determine the motor corresponding to the smaller value of the front axle load and the rear axle load as the regulating motor, when the first rated power and the second rated power are the same.

[0145] In one embodiment of this application, the first torque determination module 202 includes:

[0146] The curve acquisition submodule is used to acquire the motor efficiency curve of the reference motor; the motor efficiency curve represents the different motor efficiencies of the reference motor under different torques and speeds;

[0147] The efficiency curve determination submodule is used to determine the target motor efficiency curve corresponding to the preset efficiency value in the motor efficiency curve graph.

[0148] The target speed determination submodule is used to determine the first target speed of the reference motor based on the vehicle's current speed.

[0149] The reference torque determination submodule is used to determine the torque corresponding to the target speed as the reference torque in the target motor efficiency curve.

[0150] In one embodiment of this application, the torque distribution device 200 further includes:

[0151] The target motor efficiency determination module is used to determine the target motor efficiency based on the reference torque and the target torque;

[0152] The condition determination module is used to determine whether the reference torque and the target torque meet the torque adjustment conditions when the target motor efficiency is greater than the current vehicle motor efficiency.

[0153] In one embodiment of this application, the target motor efficiency determination module includes:

[0154] The speed determination submodule is used to determine the first target speed corresponding to the reference motor and the second target speed corresponding to the adjustment motor.

[0155] The motor efficiency prediction submodule is used to determine a first predicted motor efficiency based on a reference torque and a first target speed; and to determine a second predicted motor efficiency based on a target torque and a second target speed.

[0156] The target motor efficiency determination submodule is used to determine the target motor efficiency based on the first estimated motor efficiency and the second estimated motor efficiency.

[0157] In one embodiment of this application, the torque adjustment module 204 includes:

[0158] The drive submodule is used to control the regulating motor to drive the vehicle according to the target torque when the target torque is positive.

[0159] The energy recovery submodule is used to control the regulating motor to perform energy recovery operations according to the target torque when the target torque is negative.

[0160] It should be noted that the specific implementation of the torque distribution device 200 in this application embodiment refers to the specific implementation of the torque distribution method proposed in the first aspect of the aforementioned application embodiment, and will not be repeated here.

[0161] Thirdly, based on the same inventive concept, embodiments of this application provide a storage medium storing machine-executable instructions, which, when executed by a processor, implement the torque distribution method proposed in the first aspect of this application.

[0162] It should be noted that the specific implementation of the storage medium in this application embodiment refers to the specific implementation of the torque distribution method proposed in the first aspect of the above-mentioned application embodiment, and will not be repeated here.

[0163] Fourthly, based on the same inventive concept, referring to Figure 3 This application provides a vehicle 300, including a processor 301 and a memory 302; the memory 302 stores machine-executable instructions that can be executed by the processor 301, and the processor 301 is used to execute the machine-executable instructions to implement the torque distribution method proposed in the first aspect of this application.

[0164] It should be noted that the specific implementation of the vehicle 300 in this application embodiment refers to the specific implementation of the torque distribution method proposed in the first aspect of the aforementioned application embodiment, and will not be repeated here.

[0165] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of computer program products 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 code.

[0166] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. 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 device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0167] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0168] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0169] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.

[0170] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes the element.

[0171] The present invention has provided a detailed description of a torque distribution method, device, storage medium, and vehicle. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, those skilled in the art will know that there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A torque distribution method, characterized in that, The method includes: When the current overall vehicle motor efficiency is less than the efficiency threshold, a reference motor and an adjusting motor are determined among the front axle motor and the rear axle motor. Specifically, if the rated power of the front axle motor and the rear axle motor are different, the motor with the larger rated power is selected as the reference motor, and the motor with the smaller rated power is selected as the adjusting motor. If the rated power of the front axle motor and the rear axle motor are the same, the motor corresponding to the side with the larger load is selected as the reference motor, and the motor corresponding to the side with the smaller load is selected as the adjusting motor. Determine the reference torque of the reference motor and the required torque of the vehicle; the reference torque is the torque value at which the motor efficiency of the reference motor can reach a preset efficiency value when the reference motor outputs torque according to the reference torque, and the preset efficiency value is selected in the high efficiency range; Based on the required torque of the vehicle and the reference torque, the target torque of the regulating motor is determined; When the reference torque and the target torque meet the torque adjustment conditions, the reference motor is controlled to output torque according to the reference torque, and the adjustment motor is controlled to output torque according to the target torque.

2. The torque distribution method according to claim 1, characterized in that, When the current overall vehicle motor efficiency is less than the efficiency threshold, the steps for determining the reference motor and the adjusting motor among the front axle motor and the rear axle motor include: When the current overall vehicle motor efficiency is less than the efficiency threshold, obtain the vehicle's motor parameters and / or operating condition information; Based on motor parameters and / or operating condition information, the reference motor and the regulating motor are determined among the front axle motor and the rear axle motor.

3. The torque distribution method according to claim 2, characterized in that, The motor parameters include the first rated power of the front axle motor and the second rated power of the rear axle motor; the operating condition information includes the front axle load and the rear axle load; The step of determining the reference motor and the regulating motor among the front axle motor and the rear axle motor based on motor parameters and / or operating condition information includes: When the first rated power and the second rated power are different, the motor corresponding to the larger value of the first rated power and the second rated power is determined as the reference motor, and the motor corresponding to the smaller value of the first rated power and the second rated power is determined as the regulating motor; When the first rated power and the second rated power are the same, the motor corresponding to the larger value of the front axle load and the rear axle load is determined as the reference motor, and the motor corresponding to the smaller value of the front axle load and the rear axle load is determined as the regulating motor.

4. The torque distribution method according to claim 1, characterized in that, The step of determining the reference torque of the reference motor includes: Obtain the motor efficiency curve of the reference motor; the motor efficiency curve represents the different motor efficiencies of the reference motor under different torques and different speeds; In the motor efficiency curve graph, the target motor efficiency curve corresponding to the preset efficiency value is determined; Based on the current vehicle speed, determine the first target rotational speed of the reference motor; In the target motor efficiency curve, the torque corresponding to the target speed is determined as the reference torque.

5. The torque distribution method according to claim 1, characterized in that, Before the steps of controlling the reference motor to output torque according to the reference torque and controlling the regulating motor to output torque according to the target torque when the reference torque and the target torque meet the torque adjustment conditions, the method further includes: The target motor efficiency is determined based on the reference torque and the target torque; If the target motor efficiency is greater than the current vehicle motor efficiency, the reference torque and the target torque are determined to satisfy the torque adjustment condition.

6. The torque distribution method according to claim 5, characterized in that, The step of determining the target motor efficiency based on the reference torque and the target torque includes: Determine the first target speed corresponding to the reference motor and the second target speed corresponding to the regulating motor; Based on the reference torque and the first target speed, a first estimated motor efficiency is determined; and based on the target torque and the second target speed, a second estimated motor efficiency is determined. The target motor efficiency is determined based on the first estimated motor efficiency and the second estimated motor efficiency.

7. The torque distribution method according to claim 1, characterized in that, The step of controlling the regulating motor to output torque according to the target torque includes: When the target torque is positive, the regulating motor is controlled to drive the vehicle according to the target torque; When the target torque is negative, the regulating motor is controlled to perform energy recovery operation according to the target torque.

8. A torque distribution device, characterized in that, The device includes: The motor determination module is used to determine a reference motor and an adjusting motor among the front axle motor and the rear axle motor when the current overall vehicle motor efficiency is less than an efficiency threshold. Specifically, if the rated power of the front axle motor and the rear axle motor are different, the motor with the higher rated power is selected as the reference motor, and the motor with the lower rated power is selected as the adjusting motor. If the rated power of the front axle motor and the rear axle motor are the same, the motor corresponding to the side with the larger load is selected as the reference motor, and the motor corresponding to the side with the smaller load is selected as the adjusting motor. The first torque determination module is used to determine the reference torque of the reference motor and the vehicle's overall torque requirement; the reference torque is the torque value at which the motor efficiency of the reference motor can reach a preset efficiency value when the reference motor outputs torque according to the reference torque, and the preset efficiency value is selected in the high efficiency range; The second torque determination module is used to determine the target torque of the regulating motor based on the vehicle's required torque and the reference torque. The torque adjustment module is used to control the reference motor to output torque according to the reference torque and the adjustment motor to output torque according to the target torque when the reference torque and the target torque meet the torque adjustment conditions.

9. A storage medium, characterized in that, The storage medium stores machine-executable instructions, which, when executed by a processor, implement the torque distribution method as described in any one of claims 1-7.

10. A vehicle, characterized in that, It includes a processor and a memory; the memory stores machine-executable instructions that can be executed by the processor, which executes the machine-executable instructions to implement the torque distribution method as described in any one of claims 1-7.

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