Front and rear motor gear ratio control method and device, electronic equipment and readable storage medium

Abstract

The application relates to the technical field of vehicle control, and provides a front-rear motor gear ratio control method and device, electronic equipment and a readable storage medium. The method comprises the following steps: acquiring basic data of a vehicle, determining a preset speed threshold based on the basic data; determining the front-rear wheel speeds corresponding to the condition that the motor rotation speed is not greater than the corresponding motor basic rotation speed based on the front-rear motor basic data and the wheel diameter; adjusting the front-rear wheel speeds based on the motor efficiency adjustment mode, taking the adjusted front-rear wheel speeds as the front-rear wheel speed thresholds of vehicle driving, acquiring the driving data of the current vehicle, taking the rear wheel speed threshold as the preset speed threshold, and determining the current front motor output power and the current rear motor output power based on the driving data and the preset speed threshold, wherein the motor gear ratio and the corresponding gearbox can also be determined according to the motor efficiency adjustment mode. The front-rear motor gear ratio control method provided by the application improves the vehicle endurance and increases the service life of the motor.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a method, device, electronic device, and readable storage medium for controlling the gear ratio of front and rear motors. Background Technology

[0002] In existing technologies, most transmissions in new energy vehicles are single-stage, single-ratio transmissions. While these transmissions are simple in structure, highly efficient, small in size, and low in cost, their maximum speed is limited, lacking room for improvement. These transmissions typically utilize permanent magnet synchronous motors. Permanent magnet synchronous motors have a base speed; their efficiency is highest before reaching this base speed. When the motor speed is not less than the base speed, its output power decreases as the speed increases.

[0003] In actual driving, when driving at low to medium speeds, drivers feel that the motor's efficiency is high, acceleration is fast, and the range is long. However, when cruising at high speeds or on expressways, the motor's power and efficiency decrease due to speed limitations and overheating and demagnetization. This prevents the motor from working in its optimal speed range for extended periods, resulting in a loss of output power converted into driving force for the vehicle. Consequently, the vehicle's range is short. Especially at high speeds, drivers experience range anxiety when they see the remaining range decreasing as speed increases. As a result, they forcefully adjust their driving strategy and reduce the pressure on the accelerator pedal, leading to a poor user experience. Summary of the Invention

[0004] In view of this, embodiments of this application provide a method, apparatus, electronic device, and readable storage medium for controlling the gear ratio of the front and rear motors, in order to solve the problem of short driving time and drivers' inability to drive at high speeds with confidence in the prior art.

[0005] A first aspect of this application provides a method for controlling the gear ratio of front and rear motors, including:

[0006] Acquire basic vehicle data and determine a preset speed threshold based on the basic data. The basic data includes the basic data of the front motor corresponding to the front motor, the basic data of the rear motor corresponding to the rear motor, and the wheel diameter. The basic data of the front motor includes the base speed and gear ratio of the front motor, and the basic data of the rear motor includes the base speed and gear ratio of the rear motor.

[0007] Based on the basic data of the front motor and the wheel diameter, determine the front wheel speed when the front motor speed is not greater than the base speed of the front motor.

[0008] Based on the rear motor's basic data and the wheel diameter, determine the rear wheel speed when the rear motor's speed is no greater than the rear motor's base speed.

[0009] The front and rear wheel speeds are adjusted based on the motor efficiency adjustment method. The adjusted front wheel speed is used as the front wheel speed threshold for vehicle operation, and the adjusted rear wheel speed is used as the rear wheel speed threshold for vehicle operation.

[0010] The system acquires the current vehicle's driving data, uses the rear wheel speed threshold as a preset speed threshold, and adjusts the current front motor output power and the current rear motor output power based on the driving data and the preset speed threshold. The adjusted front motor output power controls the operation of the front motor, and the adjusted rear motor output power controls the operation of the rear motor. The driving data includes vehicle speed, the rate of change of vehicle speed within a preset time period, the front motor output power, and the rear motor output power.

[0011] A second aspect of this application provides a method for determining the gear ratio of a front and rear motor, comprising:

[0012] Obtain motor data information of the vehicle motor, which includes the front motor or the rear motor. The motor data information includes the motor base speed and the maximum wheel speed threshold. The maximum wheel speed threshold is the vehicle speed when the corresponding vehicle motor provides the vehicle driving force and the vehicle motor outputs at the base speed.

[0013] If the current vehicle motor is the front motor, based on the front motor data information corresponding to the front motor, and according to the adjustment ratio, the rear motor gear ratio is determined with the goal of the maximum front wheel speed threshold being greater than the maximum rear wheel speed threshold;

[0014] If the current vehicle motor is a rear motor, the front motor gear ratio is determined based on the rear motor data information corresponding to the rear motor and according to the adjustment ratio, with the goal of the maximum front wheel speed threshold being greater than the maximum rear wheel speed threshold;

[0015] The system acquires the current vehicle's driving data, uses the maximum rear wheel speed threshold corresponding to the rear motor gear ratio as the preset speed threshold, and adjusts the current front motor output power and the current rear motor output power based on the driving data and the preset speed threshold. The driving data includes vehicle speed, vehicle speed change rate within a preset time period, front motor output power, and rear motor output power.

[0016] A third aspect of this application provides a front and rear motor gear ratio control device, comprising:

[0017] The acquisition module is configured to acquire basic vehicle data and determine a preset speed threshold based on the basic data. The basic data includes the basic data of the front motor corresponding to the front motor, the basic data of the rear motor corresponding to the rear motor, and the wheel diameter. The basic data of the front motor includes the base speed and gear ratio of the front motor, and the basic data of the rear motor includes the base speed and gear ratio of the rear motor.

[0018] The first processing module is configured to determine the front wheel speed when the front motor speed is not greater than the front motor base speed based on the front motor basic data and the wheel diameter.

[0019] The second processing module is configured to determine the rear wheel speed when the rear motor speed is not greater than the rear motor base speed based on the rear motor base data and the wheel diameter.

[0020] The third processing module is configured to adjust the front wheel speed and rear wheel speed based on the motor efficiency adjustment method, and use the adjusted front wheel speed as the front wheel speed threshold of the vehicle and the adjusted rear wheel speed as the rear wheel speed threshold of the vehicle.

[0021] The fourth processing module is configured to acquire the current vehicle driving data, use the rear wheel speed threshold as the preset speed threshold, and adjust the current front motor output power and the current rear motor output power based on the driving data and the preset speed threshold. The adjusted front motor output power controls the operation of the front motor, and the adjusted rear motor output power controls the operation of the rear motor. The driving data includes vehicle speed, vehicle speed change rate within a preset time period, front motor output power, and rear motor output power.

[0022] A fourth aspect of this application provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method described above.

[0023] A fifth aspect of this application provides a readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described method.

[0024] The beneficial effects of this application embodiment compared with the prior art are as follows: Basic vehicle data is acquired, and a preset speed threshold is determined based on this data. The basic data includes the basic data of the front motor corresponding to the front motor, the basic data of the rear motor corresponding to the rear motor, and the wheel diameter. The basic data of the front motor includes the base speed and gear ratio of the front motor, and the basic data of the rear motor includes the base speed and gear ratio of the rear motor. Based on the basic data of the front motor and the wheel specifications, the front wheel speed corresponding to a speed not exceeding the base speed of the front motor is determined. Similarly, based on the basic data of the rear motor and the wheel diameter, the rear wheel speed corresponding to a speed not exceeding the base speed of the rear motor is determined. The motor achieves maximum energy conversion efficiency when running at its base speed, and the corresponding front and rear wheel speeds reach their maximum values. The required front and rear wheel speeds can be determined according to user needs; therefore, the front and rear wheel speeds are not limited to maximum front and rear wheel speeds. The front and rear wheel speeds are adjusted according to the motor efficiency adjustment method. The adjusted front wheel speed is used as the front wheel speed threshold for vehicle operation, and the adjusted rear wheel speed is used as the rear wheel speed threshold for vehicle operation. The current vehicle driving data is obtained, and the rear wheel speed threshold is used as the preset speed threshold. Based on the driving data and the preset speed threshold, the current front motor output power and the current rear motor output power are determined. The driving data includes vehicle speed, vehicle speed change rate within a preset time period, front motor output power, and rear motor output power. The preset speed threshold is related to the performance of the front motor, rear motor, and wheel diameter, and has a certain upper limit. Before reaching the upper limit, the output power of the front motor and rear motor are appropriately adjusted to achieve a more economical ratio, thereby improving the overall range of the vehicle and extending the service life of the motor. According to the front and rear motor gear ratio control method provided in the embodiments of this application, a preset speed threshold is determined based on the basic data of the front and rear motors. The real-time vehicle speed and the real-time vehicle speed change rate are compared with the preset speed threshold to adjust the current output power of the front motor and the current output power of the rear motor. The vehicle is driven according to the adjusted output power of the front motor and the adjusted output power of the rear motor. This method can maintain a high conversion efficiency of the motor at high, medium and low speeds, thereby improving the vehicle's range, reducing motor wear, increasing the motor's service life, and better meeting user needs, thus improving the user's experience of using the vehicle. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this application, 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 this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic flowchart of a front and rear motor gear ratio control method provided in an embodiment of this application;

[0027] Figure 2 This is a flowchart illustrating a method for determining the gear ratio of a front and rear motor according to an embodiment of this application;

[0028] Figure 3 This is a schematic diagram of a front and rear motor gear ratio control device provided in an embodiment of this application;

[0029] Figure 4 This is a schematic diagram of a device for determining the gear ratio of the front and rear motors according to an embodiment of this application.

[0030] Figure 5 This is a schematic diagram of the electronic device provided in the embodiments of this application. Detailed Implementation

[0031] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0032] This application applies to dual-motor electric vehicles, which are vehicles equipped with two motors to drive the front and rear wheels. These motors can flexibly adjust the torque distribution between the front and rear wheels according to road conditions and actual driving needs, achieving optimal acceleration, braking, and steering performance. Furthermore, the dual motors can automatically adjust the torque distribution between the front and rear wheels, increasing vehicle stability and handling, and effectively preventing accidents.

[0033] Dual-motor electric vehicles require corresponding gearboxes for each of the two motors. The gearbox is a mechanical device that can change the speed and torque of the motor's power output. When used in conjunction with the motor, it can provide different speeds and torques, and has advantages such as high transmission efficiency and stable speed and torque output.

[0034] However, dual-motor electric vehicles are more expensive than single-motor electric vehicles or gasoline vehicles because they are equipped with two motors and two sets of gearboxes. They also require more maintenance and upkeep, increasing operating costs. Furthermore, the increased overall weight of the vehicle affects its handling and consumes more electricity, resulting in a reduced driving range.

[0035] The following section introduces some basic concepts related to motors and gearboxes:

[0036] Motor base speed: This refers to the speed at which the motor rotates, expressed in revolutions per minute (RPM). Different types of motors have different base speeds. The base speed is the highest speed the motor can reach under light load conditions. Using the base speed as a speed threshold, the motor's power output and energy conversion efficiency are high within this threshold. If the motor speed exceeds the threshold and remains at a constant maximum value, the torque gradually decreases as the actual speed increases, thus significantly reducing energy conversion efficiency. The base speed is slightly lower than the motor's rated speed.

[0037] Rated power of a motor: This refers to the maximum power that a motor can continuously operate at. Typically, the rated power is determined by the manufacturer through dynamometer testing, where the motor is run at its rated speed to obtain the base speed, torque output curve, and rated power. The rated power of a motor is related to its rated current, rated voltage, and power factor. Rated current refers to the current flowing under rated load, and the power factor is the ratio of the motor's input power to its output power, typically between 0.8 and 0.9.

[0038] Rated motor speed: refers to the speed of the motor under rated magnetic flux, with the rated electromotive force in the rated magnetic field serving as the rated voltage. Therefore, under rated magnetic flux, as the motor speed increases from zero to the rated speed, the electromotive force increases from zero to the rated voltage.

[0039] Gear ratio: The ratio of the number of motor gears to the number of drive gears, it is one of the important parameters in gear transmission. Data from the gearbox determines the output shaft speed, torque, and direction of motion. By changing the gear ratio, different speeds and torques can be achieved. In this application embodiment, the gear ratio refers to the gearbox gear ratio. The gearbox, as a crucial component for driving the vehicle with the motor's output power, functions similarly to the motor. Since the motor's output power, as the vehicle's driving force, needs to be converted through the gearbox, it is also referred to as the motor gear ratio.

[0040] The following describes in detail, with reference to the accompanying drawings, a method and apparatus for controlling the gear ratio of front and rear motors according to embodiments of this application.

[0041] Figure 1 This is a flowchart illustrating a front and rear motor gear ratio control method provided in an embodiment of this application. Figure 1 As shown, the front and rear motor gear ratio control method includes the following steps:

[0042] S101, Obtain basic vehicle data and determine a preset speed threshold based on the basic data;

[0043] S102, Based on the front motor base data and wheel diameter, determine the front wheel speed when the front motor speed is not greater than the front motor base speed;

[0044] S103, based on the rear motor base data and wheel diameter, determine the rear wheel speed when the rear motor speed is not greater than the rear motor base speed;

[0045] S104, adjust the front wheel speed and rear wheel speed based on the motor efficiency adjustment method, and use the adjusted front wheel speed as the front wheel speed threshold of the vehicle and the adjusted rear wheel speed as the rear wheel speed threshold of the vehicle.

[0046] S105: Obtain the current vehicle driving data, use the rear wheel speed threshold as the preset speed threshold, adjust the current front motor output power and the current rear motor output power based on the driving data and the preset speed threshold, and use the adjusted front motor output power to control the operation of the front motor and the adjusted rear motor output power to control the operation of the rear motor.

[0047] The basic data includes the basic data of the front motor corresponding to the front motor, the basic data of the rear motor corresponding to the rear motor, and the wheel diameter. The basic data of the front motor includes the base speed and gear ratio of the front motor, and the basic data of the rear motor includes the base speed and gear ratio of the rear motor. The driving data includes the vehicle speed, the rate of change of vehicle speed within a preset time period, the output power of the front motor, and the output power of the rear motor.

[0048] In an exemplary embodiment of this application, basic vehicle data is acquired through various sensors or control systems in the vehicle, and a preset speed threshold is determined based on the basic data. The basic data includes basic data of the front motor corresponding to the front motor, basic data of the rear motor corresponding to the rear motor, and wheel diameter. The basic vehicle data can be obtained from the vehicle's technical manual or from technical documents provided by the manufacturer. After the basic data is acquired for the first time and the preset speed threshold is determined, the preset speed threshold can be recorded to avoid wasting resources through multiple calculations. At the same time, the motor and transmission can be tested according to a certain pattern to update the basic data and reduce the error between the basic data of the front motor and the rear motor, the preset speed threshold, and the actual vehicle conditions.

[0049] The vehicle's basic data includes front motor basic data, rear motor basic data, and wheel diameter. The front motor basic data includes the front motor's base speed and gear ratio, and the rear motor basic data includes the rear motor's base speed and gear ratio. A preset speed threshold is obtained based on the above basic data. The preset speed threshold is obtained before the vehicle is driven. The preset speed threshold is the same for motors, transmissions, and wheel diameters of the same model.

[0050] Because the relationship between motor speed and output power is positively correlated within a base speed range, beyond that base speed, the motor's output power remains at the maximum power corresponding to that base speed. Furthermore, higher speeds may lead to increased heat generation and wind resistance during vehicle operation, resulting in reduced output efficiency and making it difficult to further increase output power. Therefore, the front wheel speed is determined based on the front motor's basic data and wheel diameter, ensuring the front motor speed does not exceed its base speed. Similarly, the rear wheel speed is determined based on the rear motor's basic data and wheel diameter, ensuring the rear motor speed does not exceed its base speed.

[0051] The aforementioned front wheel speed and rear wheel speed are derived from the basic data of the front motor, the basic data of the rear motor, and the wheel diameter. The front wheel speed and rear wheel speed can be understood as the maximum front wheel speed and maximum rear wheel speed that the front motor and rear motor can achieve under certain conditions, or as the upper limit of the performance of the front motor and rear motor in providing driving force to the vehicle under certain conditions.

[0052] In an exemplary embodiment of this application, the front motor has a rated power of P1, a base speed of r1, and a gear ratio of t1; the rear motor has a rated power of P2, a base speed of r2, and a gear ratio of t2; and the wheel diameter is d (unit: meters). This is used as an example for illustrative purposes.

[0053] The base speed of the front motor is r1, in revolutions per minute. Using the speed formula V = S / t, we can obtain the corresponding S1 = (r1 / t1) × π × d for the front motor. Furthermore, we can derive the front wheel speed V1 = S1 when the vehicle's front motor outputs power at its base speed, in meters per minute. Converting this speed unit from meters per minute to kilometers per hour provides a more intuitive understanding of the maximum front wheel speed corresponding to the base motor speed. The conversion method is: V1 = (r1 / t1) × π × d × (60 / 1000).

[0054] Similarly, the rear wheel speed V2 when the rear motor outputs power at the base speed can be obtained as V2 = (r2 / t2) × π × d × (60 / 1000).

[0055] After obtaining the front and rear wheel speeds, the front and rear wheel speeds are adjusted according to the motor efficiency adjustment method. The adjusted rear wheel speed is used as a preset speed threshold. The maximum values ​​of the adjusted front and rear wheel speeds can be determined based on user needs. For example, if the front wheel speed corresponding to the front and rear motors can reach 120 km / h based on the performance of the front motor, and the user's maximum required front and rear wheel speeds are 100 km / h, it can be determined that the corresponding front and rear motor speeds do not exceed the corresponding rear wheel speeds based on the user's base front and rear motor speeds. Therefore, the user's required speed of 100 km / h can be used as the maximum front and rear wheel speeds. User needs can include requirements from various perspectives, such as economic efficiency, high-speed capability, or range.

[0056] The system acquires and analyzes the current vehicle's driving data, using the rear wheel speed threshold as a preset speed threshold. Based on the driving data and the preset speed threshold, it determines the current output power of the front motor and the current output power of the rear motor. This allows for the determination of a more reasonable and user-friendly power ratio between the front and rear motors and their corresponding transmissions, providing the vehicle with the necessary power source.

[0057] According to the technical solution provided in this application, the front wheel speed and rear wheel speed are determined based on the basic data corresponding to the front and rear motors in the vehicle. The front and rear wheel speeds are then adjusted according to a motor efficiency adjustment method. The adjusted rear wheel speed threshold is used as a preset speed threshold. This allows the current output power of the front and rear motors to be determined based on the vehicle's real-time driving data. Adjusting the front and rear wheel speeds according to a motor efficiency adjustment method ensures that the adjusted data meets user needs or preferences, thereby improving the vehicle's overall range, extending the motor's lifespan, and enhancing the user's driving experience.

[0058] In some embodiments, the process of adjusting the front wheel speed and rear wheel speed based on the motor efficiency adjustment method includes:

[0059] Obtain the maximum torque of the front motor corresponding to the front wheel speed and the maximum torque of the rear motor corresponding to the rear wheel speed;

[0060] The target is the minimum value of the difference between the maximum torque of the front motor and the maximum torque of the rear motor, where the front wheel speed threshold is not less than the rear wheel speed threshold. The gear ratios of the front motor and the rear motor are adjusted according to the adjustment ratio.

[0061] The mathematical expression for adjusting the proportional relationship is:

[0062]

[0063] Where t1 is the front motor gear ratio, t2 is the rear motor gear ratio, r1 is the base speed of the front motor, V2 is the rear wheel speed, V1 is the front wheel speed, and r2 is the base speed of the rear motor.

[0064] When a vehicle is in motion, rear-wheel drive provides better traction and steering during acceleration and start-up, resulting in a better driving experience. However, rear-wheel drive is prone to fishtailing. Front-wheel drive, on the other hand, supports high-speed straight-line travel. In a dual-motor electric vehicle, the front motor provides power for medium and high speeds, while the rear motor provides power for low and medium speeds. Lowering the gear ratio of the front motor will result in some torque loss, but it will provide better high-speed performance; therefore, the front wheel speed should not be lower than the rear wheel speed.

[0065] The above is the core idea of ​​motor efficiency adjustment. The process of adjusting the front and rear wheel speeds according to the motor efficiency adjustment method is as follows:

[0066] The maximum torque of the front motor corresponding to the front wheel speed and the maximum torque of the rear motor corresponding to the rear wheel speed can be obtained. The maximum torque of the front motor and the maximum torque of the rear motor can be obtained by querying the motor performance curve or by obtaining the real-time motor control signal.

[0067] The goal is to minimize the difference between the maximum torque of the front motor and the maximum torque of the rear motor, provided that the front wheel speed threshold is not less than the rear wheel speed threshold. The gear ratios of the front and rear motors are then adjusted according to a proportional relationship. In other words, the constraints for adjusting the front and rear wheel speeds include: the maximum front wheel speed is not less than the maximum rear wheel speed, and the maximum torque of the front motor is made as close as possible to the maximum torque of the rear motor.

[0068] When adjusting the maximum front and rear wheel speeds according to the adjustment ratio, adjustments can be made by reducing the front motor gear ratio, reducing the front motor base speed, or increasing the front motor torque. The type of front motor is not limited to asynchronous AC motors or permanent magnet synchronous motors. The optimal gear ratio for matching the power parameters of the front and rear motors can also be quickly determined based on the vehicle's positioning. The specific values ​​for adjusting the front and rear wheel speeds can be obtained through mathematical optimization algorithms or experiments. Mathematical optimization algorithms can include gradient descent or Newton's method, among others.

[0069] The mathematical expression for adjusting the proportional relationship is: Where t1 is the front motor gear ratio, t2 is the rear motor gear ratio, r1 is the base speed of the front motor, V2 is the rear wheel speed, V1 is the front wheel speed, and r2 is the base speed of the rear motor.

[0070] According to the technical solution provided in the embodiments of this application, the speed of the front wheel and the speed of the rear wheel are adjusted. During the adjustment process, the gear ratio is adjusted according to the adjustment ratio, which can ensure that the front motor and the rear motor can maintain high efficiency when outputting power, reduce the loss caused by energy conversion, so that the vehicle can better meet the user's needs when the front motor or the rear motor is used as the driving force source for the vehicle, improve the range, and optimize the energy use efficiency.

[0071] In some embodiments, acquiring current vehicle driving data, using a rear wheel speed threshold as a preset speed threshold, and adjusting the current front motor output power and the current rear motor output power based on the driving data and the preset speed threshold includes:

[0072] The current driving status of the vehicle is determined based on driving data;

[0073] When the driving state is constant speed driving, determine whether the current vehicle speed is greater than the preset speed threshold.

[0074] If so, the output power of the front motor and the output power of the rear motor are adjusted according to the preset adjustment method. The preset adjustment method is to keep the sum of the output power of the front motor and the output power of the rear motor constant, increase the output power of the front motor and decrease the output power of the rear motor, so as to adjust the output power of the front motor and the output power of the rear motor through smooth control logic.

[0075] The system acquires and analyzes the current vehicle's driving data to determine its driving status, such as whether the vehicle is accelerating, decelerating, moving at a constant speed, or stopped. It can also determine the acceleration or deceleration of the vehicle during gear shifting to better match the output power of the front and rear motors and the corresponding gearbox, thus providing a more economical power source for the vehicle.

[0076] When the vehicle is traveling at a constant speed, it is determined whether the current vehicle speed exceeds a preset speed threshold. If so, the output power of the front motor and the rear motor are adjusted according to a preset adjustment method. This preset adjustment method can be either total output power or a constant strategy. Specifically, the output power of the front and rear motors is obtained, their sum is calculated, and the sum of the output power of the two motors is kept constant. The output power of the front motor is increased, and the output power of the rear motor is correspondingly decreased. This ensures that the vehicle maintains a stable driving state while traveling at a constant speed, and also optimizes energy efficiency.

[0077] If not, maintain the current rear motor output power to maintain the current vehicle speed.

[0078] According to the technical solution provided in the embodiments of this application, a preset speed threshold can be determined based on the vehicle's basic data, and the power of the front and rear motors can be re-ratioed based on whether the current vehicle speed exceeds the preset speed threshold, so as to optimize the vehicle's energy utilization efficiency and maintain the high-efficiency and stable output of the front and rear motors.

[0079] In some embodiments, the driving state further includes a non-uniform speed driving state. Determining the current driving state of the vehicle based on driving data also includes:

[0080] When the driving state is non-uniform speed driving state, determine whether the current vehicle speed change rate meets at least one preset judgment condition.

[0081] The preset judgment conditions include the current vehicle speed change rate not being less than the speed change threshold, the accelerator pedal torque remaining constant, or no accelerator pedal signal being sent to the accelerator pedal.

[0082] If so, maintain the current output power of the rear motor and the current output power of the front motor;

[0083] If not, obtain the current accelerator pedal torque, and determine the output power of the front motor or the rear motor based on the current vehicle speed and accelerator pedal torque.

[0084] In addition to uniform speed driving, a vehicle's driving state also includes non-uniform speed driving. In non-uniform speed driving, there is a corresponding rate of change of vehicle speed, which includes the vehicle's acceleration and deceleration.

[0085] The rate of change of vehicle speed varies depending on the vehicle's speed. Examples include situations on a flat road where the vehicle accelerates rapidly, accelerates smoothly, decelerates by braking, or coasts without braking; or situations where the vehicle accelerates or decelerates after going up or down a slope. The rate of change of vehicle speed in non-uniform speed conditions can also be understood as cases where the motor provides torque or not. Cases where the rate of change of vehicle speed remains constant or where no accelerator pedal signal is sent are considered cases where the motor provides torque. Cases other than these, such as vehicle coasting, are cases where the motor does not provide torque.

[0086] When the driving state is non-uniform speed driving state, it is determined whether the current vehicle speed change rate meets at least one preset judgment condition. The preset judgment conditions include the current vehicle speed change rate not being less than the speed change threshold, the vehicle speed change rate remaining constant, or no accelerator pedal signal being sent to the accelerator pedal.

[0087] If the vehicle's rate of change of speed is not less than the speed change threshold, i.e., the vehicle is accelerating rapidly, or the vehicle's rate of change of speed remains constant, i.e., the vehicle is accelerating uniformly, or no accelerator pedal signal is sent to the accelerator pedal, i.e., the vehicle is coasting with or without braking, then the current output power of the front motor and the current output power of the rear motor are maintained without any adjustment. This can be understood as controlling the motor output power according to the existing method of controlling motor output.

[0088] If the vehicle's speed change rate is less than the speed change threshold, i.e. the vehicle needs to accelerate or brake at the end of an uphill or downhill section, the current accelerator pedal torque is obtained, and the output power of the front motor or the rear motor is determined based on the current vehicle speed and the accelerator pedal torque.

[0089] In addition, other factors need to be considered when judging the driving status and adjusting the motor output power, such as vehicle load, road conditions, and driving style. At the same time, in order to ensure safety and stability, multiple sensors and control systems should be combined to monitor and control the vehicle status.

[0090] According to the technical solution provided in the embodiments of this application, in a non-uniform speed driving state, the motor that provides driving force to the vehicle is determined based on whether the rate of change of speed meets at least one preset judgment condition, and the output power of the motor is determined to adapt to the current driving needs and maintain the stability and comfort of the vehicle.

[0091] In some embodiments, obtaining the current accelerator pedal torque and determining the front motor output power or the rear motor output power based on the current vehicle speed and the accelerator pedal torque includes:

[0092] The current accelerator pedal torque is obtained based on the accelerator pedal signal;

[0093] Determine whether the current vehicle speed is not less than a preset speed threshold;

[0094] If so, update the current accelerator pedal torque and output the corresponding motor power.

[0095] If not, update the motor output power according to the current accelerator pedal torque and output it.

[0096] The current accelerator pedal torque is determined based on the accelerator pedal signal. It is then determined whether the current vehicle speed is not less than a preset speed threshold. When the vehicle receives the accelerator pedal signal and the current vehicle speed is not less than the preset speed threshold, the driving force of the vehicle is provided by the output power of the front motor. When the vehicle receives the accelerator pedal signal and the current vehicle speed is less than the preset speed threshold, the driving force of the vehicle is provided by the output power of the rear motor.

[0097] The specific value of the output power of the front motor or the output power of the rear motor is determined by the torque of the accelerator pedal.

[0098] According to the technical solution provided in the embodiments of this application, it is possible to determine whether the front motor or the rear motor is used as the driving force source for the vehicle based on the accelerator pedal signal and the current vehicle speed, thereby maximizing the utilization of the output power of the front and rear motors, improving vehicle range, and reducing costs.

[0099] Figure 2 This is a flowchart illustrating a method for determining the gear ratio of the front and rear motors according to an embodiment of this application.

[0100] like Figure 2 As shown, the method for determining the gear ratio of the front and rear motors includes the following steps:

[0101] S201, Obtain motor data information of the vehicle motor;

[0102] S2021, If ​​the current vehicle motor is a front motor, based on the front motor data information corresponding to the front motor, and according to the adjustment ratio, with the goal of the maximum front wheel speed threshold being greater than the maximum rear wheel speed threshold, determine the rear motor gear ratio;

[0103] S2022, If the current vehicle motor is a rear motor, based on the rear motor data information corresponding to the rear motor, and according to the adjustment ratio, with the goal of the maximum front wheel speed threshold being greater than the maximum rear wheel speed threshold, determine the front motor gear ratio;

[0104] S203: Obtain the current vehicle driving data, use the maximum rear wheel speed threshold corresponding to the rear motor gear ratio as the preset speed threshold, and adjust the current front motor output power and the current rear motor output power based on the driving data and the preset speed threshold.

[0105] The vehicle motor includes a front motor or a rear motor. The motor data information includes the motor's base speed and the maximum wheel speed threshold. The maximum wheel speed threshold is the vehicle speed when the corresponding vehicle motor is used as the driving force of the vehicle and the vehicle motor outputs at the base speed. The driving data includes the vehicle speed, the rate of change of vehicle speed within a preset time period, the output power of the front motor, and the output power of the rear motor.

[0106] In an exemplary embodiment of this application, motor data information of a vehicle motor is obtained. The vehicle motor includes a front motor or a rear motor. The motor data information includes the motor's base speed and a maximum wheel speed threshold. The maximum wheel speed threshold is the vehicle speed when the corresponding vehicle motor provides driving force to the vehicle and outputs at the base speed. The motor data information can be used to control the operation of the motor and adjust the speed of the vehicle.

[0107] If the current vehicle motor is a front motor, the rear motor gear ratio is determined based on the front motor data and adjustment ratio, with the goal of the maximum front wheel speed threshold being greater than the maximum rear wheel speed threshold. This means that the front motor data, the maximum front wheel speed threshold, and the maximum rear wheel speed threshold are used as known quantities, and the basic data for the rear motor is determined according to the adjustment ratio. Specifically, it is sufficient to ensure that the maximum front wheel speed threshold is greater than the maximum rear wheel speed threshold and that the gear ratios corresponding to the front and rear motors are satisfied. In other words, there is a certain correspondence between the rear motor and its corresponding gearbox. The base speed of the rear motor is not limited, but it is necessary to ensure that the maximum rear wheel speed threshold corresponding to the rear motor after passing through the gearbox is less than the maximum front wheel speed threshold, and that the front and rear motor gear ratios satisfy the adjustment ratio. This ensures that the front wheel speed is greater than the rear wheel speed, optimizing vehicle handling and stability.

[0108] Similarly, when the vehicle motor is a rear motor, the rear motor data information is used as a known quantity, and the front motor gear ratio is determined according to the above method.

[0109] In some embodiments, when the basic data and gear ratio of the front motor are determined, the basic data of the rear motor and the gearbox corresponding to the gear ratio of the rear motor can be determined according to the adjustment ratio. Similarly, when the basic data and gear ratio of the rear motor are determined, the basic data of the front motor and the gearbox corresponding to the gear ratio of the front motor can be determined according to the adjustment ratio. That is, using the gear ratio involved in the above method as a criterion for selecting a gearbox in vehicle manufacturing can reduce vehicle costs and save resources.

[0110] The vehicle's driving data is acquired, and the maximum rear wheel speed threshold corresponding to the rear motor gear ratio is used as the preset speed threshold. Based on the driving data and the preset speed threshold, the current front motor output power and the current rear motor output power are determined. The driving data includes vehicle speed, vehicle speed change rate within a preset time period, front motor output power, and rear motor output power.

[0111] According to the technical solution provided in the embodiments of this application, when the data information of the front motor or the data information of the rear motor has been determined, the motor data information of the other motor and the corresponding gearbox can be determined according to the adjustment ratio and the corresponding wheel speed threshold. This fully and reasonably utilizes the motor performance, meets customer needs while reducing costs and enhancing economy.

[0112] During vehicle operation, the driving force for the vehicle is not solely provided by a single motor (i.e., both front and rear motors need to work together). In the embodiments of this application, the output power of the front motor or the output power of the rear motor refers to the fact that even if the output power of the front motor is the main output or the output power of the rear motor is the main output, another motor is still needed to provide auxiliary output in order to maintain the vehicle's movement.

[0113] In the embodiments of this application, the output power of the front and rear motors is switched. During the switching process, the output power of the front motor and the output power of the rear motor are adjusted by smooth control logic to maintain the stability of the vehicle. The smooth control logic is similar to a relay process and requires a smooth transition.

[0114] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0115] All of the above-mentioned optional technical solutions can be combined in any way to form the optional embodiments of this application, and will not be described in detail here.

[0116] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0117] Figure 3 This is a schematic diagram of a front and rear motor gear ratio control device provided in an embodiment of this application. Figure 3 As shown, the front and rear motor gear ratio control device includes: an acquisition module 301, a first processing module 302, a second processing module 303, a third processing module 304, and a fourth processing module 305, wherein:

[0118] The acquisition module 301 is configured to acquire basic data of the vehicle and determine a preset speed threshold based on the basic data. The basic data includes the basic data of the front motor corresponding to the front motor, the basic data of the rear motor corresponding to the rear motor, and the wheel diameter. The basic data of the front motor includes the basic speed and gear ratio of the front motor, and the basic data of the rear motor includes the basic speed and gear ratio of the rear motor.

[0119] The first processing module 302 is configured to determine the front wheel speed when the front motor speed is not greater than the front motor base speed based on the front motor basic data and the wheel diameter.

[0120] The second processing module 303 is configured to determine the rear wheel speed when the rear motor speed is not greater than the rear motor base speed based on the rear motor basic data and the wheel diameter.

[0121] The third processing module 304 is configured to adjust the front wheel speed and the rear wheel speed based on the motor efficiency adjustment method, and use the adjusted front wheel speed as the front wheel speed threshold of the vehicle and the adjusted rear wheel speed as the rear wheel speed threshold of the vehicle.

[0122] The fourth processing module 305 is configured to acquire the current vehicle driving data, use the rear wheel speed threshold as the preset speed threshold, and determine the adjustment of the current front motor output power and the current rear motor output power based on the driving data and the preset speed threshold. The adjusted front motor output power controls the operation of the front motor, and the adjusted rear motor output power controls the operation of the rear motor. The driving data includes vehicle speed, vehicle speed change rate within a preset time period, front motor output power, and rear motor output power.

[0123] In some embodiments, the third processing module 304 is configured to adjust the front wheel speed and rear wheel speed based on the motor efficiency adjustment method for the following purposes:

[0124] Obtain the maximum torque of the front motor corresponding to the front wheel speed and the maximum torque of the rear motor corresponding to the rear wheel speed;

[0125] The target is the minimum value of the difference between the maximum torque of the front motor and the maximum torque of the rear motor, where the front wheel speed threshold is not less than the rear wheel speed threshold. The gear ratios of the front motor and the rear motor are adjusted according to the adjustment ratio.

[0126] The mathematical expression for adjusting the proportional relationship is:

[0127]

[0128] Where t1 is the front motor gear ratio, t2 is the rear motor gear ratio, r1 is the base speed of the front motor, V2 is the rear wheel speed, V1 is the front wheel speed, and r2 is the base speed of the rear motor.

[0129] In some embodiments, the fourth processing module 305 is configured to acquire the current vehicle's driving data, use the rear wheel speed threshold as a preset speed threshold, and adjust the current front motor output power and the current rear motor output power based on the driving data and the preset speed threshold, for the following purposes:

[0130] The current driving status of the vehicle is determined based on driving data;

[0131] When the driving state is constant speed driving, determine whether the current vehicle speed is greater than the preset speed threshold.

[0132] If so, the output power of the front motor and the output power of the rear motor are adjusted according to the preset adjustment method. The preset adjustment method is to keep the sum of the output power of the front motor and the output power of the rear motor constant, increase the output power of the front motor and decrease the output power of the rear motor, so as to adjust the output power of the front motor and the output power of the rear motor through smooth control logic.

[0133] In some embodiments, the fourth processing module 305 is configured to, when the driving state is a constant speed driving state, determine whether the current vehicle speed is greater than a preset speed threshold, and is further configured to:

[0134] If not, maintain the current rear motor output power to maintain the current vehicle speed.

[0135] In some embodiments, the driving state also includes a non-uniform speed driving state. Based on driving data, the current driving state of the vehicle is determined, and the fourth processing module 305 is further configured to:

[0136] When the driving state is non-uniform speed driving state, determine whether the current vehicle speed change rate meets at least one preset judgment condition.

[0137] The preset judgment conditions include the current vehicle speed change rate not being less than the speed change threshold, the accelerator pedal torque remaining constant, or no accelerator pedal signal being sent to the accelerator pedal.

[0138] If so, maintain the current output power of the rear motor and the current output power of the front motor;

[0139] If not, obtain the current accelerator pedal torque, and determine the output power of the front motor or the rear motor based on the current vehicle speed and accelerator pedal torque.

[0140] In some embodiments, the fourth processing module 305 is configured to acquire the current accelerator pedal torque, and determine the front motor output power or the rear motor output power based on the current vehicle speed and the accelerator pedal torque, for the following purposes:

[0141] The current accelerator pedal torque is obtained based on the accelerator pedal signal;

[0142] Determine whether the current vehicle speed is not less than a preset speed threshold;

[0143] If so, update the current accelerator pedal torque and output the corresponding motor power.

[0144] If not, update the motor output power according to the current accelerator pedal torque and output it.

[0145] Figure 4 This is a schematic diagram of a device for determining the gear ratio of the front and rear motors, provided in an embodiment of this application. Figure 4 As shown, the device for determining the gear ratio of the front and rear motors includes: a receiving module 401, a first processing module 402, a second processing module 403, and an execution module 404, wherein:

[0146] The receiving module 401 is configured to acquire motor data information of the vehicle motor, which includes a front motor or a rear motor. The motor data information includes the motor base speed and the maximum wheel speed threshold. The maximum wheel speed threshold is the vehicle speed when the corresponding vehicle motor provides the vehicle driving force and the vehicle motor outputs at the base speed.

[0147] The first processing module 402 is configured to, if the current vehicle motor is a front motor, determine the rear motor gear ratio based on the front motor data information corresponding to the front motor, according to the adjustment ratio relationship, with the goal of the maximum front wheel speed threshold being greater than the maximum rear wheel speed threshold;

[0148] The second processing module 403 is configured to, if the current vehicle motor is a rear motor, determine the front motor gear ratio based on the rear motor data information corresponding to the rear motor, according to the adjustment ratio relationship, with the maximum front wheel speed threshold being greater than the maximum rear wheel speed threshold as the target;

[0149] The execution module 404 is configured to acquire the current vehicle driving data, use the maximum rear wheel speed threshold corresponding to the rear motor gear ratio as the preset speed threshold, and adjust the current front motor output power and the current rear motor output power based on the driving data and the preset speed threshold. The driving data includes vehicle speed, vehicle speed change rate within a preset time period, front motor output power and rear motor output power.

[0150] Figure 5 This is a schematic diagram of the electronic device 5 provided in an embodiment of this application. Figure 5 As shown, the electronic device 5 of this embodiment includes: a processor 501, a memory 502, and a computer program 503 stored in the memory 502 and executable on the processor 501. When the processor 501 executes the computer program 503, it implements the steps in the various method embodiments described above. Alternatively, when the processor 501 executes the computer program 503, it implements the functions of each module / unit in the various device embodiments described above.

[0151] Electronic device 5 can be a desktop computer, laptop, handheld computer, cloud server, or other electronic device. Electronic device 5 may include, but is not limited to, processor 501 and memory 502. Those skilled in the art will understand that... Figure 5 This is merely an example of electronic device 5 and does not constitute a limitation on electronic device 5. It may include more or fewer components than shown, or different components.

[0152] The processor 501 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0153] The memory 502 can be an internal storage unit of the electronic device 5, such as a hard disk or RAM of the electronic device 5. The memory 502 can also be an external storage device of the electronic device 5, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, etc., equipped on the electronic device 5. The memory 502 can also include both internal and external storage units of the electronic device 5. The memory 502 is used to store computer programs and other programs and data required by the electronic device.

[0154] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0155] If an integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium (e.g., a readable storage medium). Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program may include computer program code, which may be in the form of source code, object code, executable file, or some intermediate form. The readable storage medium may include: any entity or device capable of carrying computer program code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc.

[0156] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for controlling the gear ratio of front and rear motors, characterized in that, Applications in dual-motor electric vehicles, including: Acquire basic vehicle data, including basic data of the front motor corresponding to the front motor, basic data of the rear motor corresponding to the rear motor, and wheel diameter. The basic data of the front motor includes the basic speed and gear ratio of the front motor, and the basic data of the rear motor includes the basic speed and gear ratio of the rear motor. Based on the aforementioned front motor base data and the aforementioned wheel diameter, determine the front wheel speed when the front motor speed is not greater than the aforementioned front motor base speed. Based on the rear motor's basic data and the wheel diameter, determine the rear wheel speed when the rear motor's rotational speed is not greater than the rear motor's base rotational speed. The front wheel speed and the rear wheel speed are adjusted based on the motor efficiency adjustment method. The adjusted front wheel speed is used as the front wheel speed threshold for vehicle travel, and the adjusted rear wheel speed is used as the rear wheel speed threshold for vehicle travel. The vehicle's current driving data is obtained, and the rear wheel speed threshold is used as a preset speed threshold. Based on the driving data and the preset speed threshold, the current output power of the front motor and the current output power of the rear motor are adjusted. The adjusted front motor output power controls the operation of the front motor, and the adjusted rear motor output power controls the operation of the rear motor. The driving data includes vehicle speed, vehicle speed change rate within a preset time period, front motor output power, and rear motor output power. The process of adjusting the speed of the front wheel and the speed of the rear wheel based on the motor efficiency adjustment method includes: Obtain the maximum torque of the front motor corresponding to the front wheel speed and the maximum torque of the rear motor corresponding to the rear wheel speed; With the goal of the front wheel speed threshold being no less than the rear wheel speed threshold and the minimum difference between the maximum torque of the front motor and the maximum torque of the rear motor, the gear ratios of the front motor and the rear motor are adjusted according to the adjustment ratio. The mathematical expression for adjusting the proportional relationship is: ； Wherein, t1 is the gear ratio of the front motor, t2 is the gear ratio of the rear motor, r1 is the base speed of the front motor, V2 is the speed of the rear wheel, V1 is the speed of the front wheel, and r2 is the base speed of the rear motor.

2. The method according to claim 1, characterized in that, Acquire current vehicle driving data, use the rear wheel speed threshold as a preset speed threshold, and adjust the current output power of the front motor and the current output power of the rear motor based on the driving data and the preset speed threshold, including: The current driving status of the vehicle is determined based on the driving data; When the driving state is a constant speed driving state, determine whether the current speed of the vehicle is greater than the preset speed threshold. If so, the output power of the front motor and the output power of the rear motor are adjusted according to a preset adjustment method. The preset adjustment method is to keep the sum of the output power of the front motor and the output power of the rear motor constant, increase the output power of the front motor, and decrease the output power of the rear motor, so as to adjust the output power of the front motor and the output power of the rear motor through smooth control logic.

3. The method according to claim 2, characterized in that, When the driving state is a constant speed driving state, determining whether the current vehicle speed is greater than a preset speed threshold further includes: If not, maintain the current rear motor output power to maintain the current vehicle speed.

4. The method according to claim 2, characterized in that, The driving state also includes a non-uniform speed driving state. Determining the current vehicle driving state based on the driving data further includes: When the driving state is a non-uniform speed driving state, determine whether the current rate of change of vehicle speed meets at least one preset judgment condition. The preset judgment conditions include the current vehicle speed change rate not being less than the speed change threshold, the accelerator pedal torque remaining constant, or no accelerator pedal signal being sent to the accelerator pedal. If so, maintain the current output power of the rear motor and the current output power of the front motor; If not, obtain the current accelerator pedal torque, and determine the output power of the front motor or the output power of the rear motor based on the current vehicle speed and the accelerator pedal torque.

5. The method according to claim 4, characterized in that, Obtaining the current accelerator pedal torque, and determining the output power of the front motor or the rear motor based on the current vehicle speed and the accelerator pedal torque, including: The current accelerator pedal torque is obtained based on the accelerator pedal signal; Determine whether the current vehicle speed is not less than the preset speed threshold; If so, update the front motor output power according to the current accelerator pedal torque and output it; If not, update the rear motor output power according to the current accelerator pedal torque and output it.

6. A front and rear motor gear ratio control device, characterized in that, Applications in dual-motor electric vehicles, including: The acquisition module is configured to acquire basic vehicle data, including basic data of the front motor corresponding to the front motor, basic data of the rear motor corresponding to the rear motor, and wheel diameter. The basic data of the front motor includes the basic speed and gear ratio of the front motor, and the basic data of the rear motor includes the basic speed and gear ratio of the rear motor. The first processing module is configured to determine the front wheel speed when the front motor speed is not greater than the front motor base speed based on the front motor base data and the wheel diameter. The second processing module is configured to determine the rear wheel speed when the rear motor speed is not greater than the rear motor base speed based on the rear motor base data and the wheel diameter; The third processing module is configured to adjust the front wheel speed and the rear wheel speed based on the motor efficiency adjustment method, and use the adjusted front wheel speed as the front wheel speed threshold of the vehicle and the adjusted rear wheel speed as the rear wheel speed threshold of the vehicle. The fourth processing module is configured to acquire the current vehicle driving data, use the rear wheel speed threshold as a preset speed threshold, and adjust the current output power of the front motor and the current output power of the rear motor based on the driving data and the preset speed threshold. The adjusted front motor output power controls the operation of the front motor, and the adjusted rear motor output power controls the operation of the rear motor. The driving data includes vehicle speed, vehicle speed change rate within a preset time period, front motor output power, and rear motor output power. The third processing module is specifically configured to: obtain the maximum torque of the front motor corresponding to the front wheel speed and the maximum torque of the rear motor corresponding to the rear wheel speed; and adjust the gear ratios of the front motor and the rear motor according to an adjustment ratio, with the minimum value of the difference between the maximum torque of the front motor and the maximum torque of the rear motor being not less than the front wheel speed threshold and the minimum value of the difference between the maximum torque of the front motor and the maximum torque of the rear motor; the mathematical expression for the adjustment ratio is: ； Wherein, t1 is the gear ratio of the front motor, t2 is the gear ratio of the rear motor, r1 is the base speed of the front motor, V2 is the speed of the rear wheel, V1 is the speed of the front wheel, and r2 is the base speed of the rear motor.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1 to 5.

8. A readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 5.

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