Torque adjustment method and storage medium

Abstract

An embodiment of the present application provides a torque adjustment method and storage medium, the method comprising: obtaining a vehicle's current front axle torque, current rear axle torque, and actual speed; obtaining the vehicle's driving information from a chassis controller, the driving information including the current vehicle speed, road adhesion coefficient, desired front axle torque, and desired rear axle torque; determining the vehicle's front axle slip torque and rear axle slip torque based on the driving information and the actual speed, the front axle slip torque and rear axle slip torque being torques desired to prevent vehicle slippage; and adjusting the vehicle's torque based on the front axle current torque, the rear axle current torque, the front axle slip torque, and the rear axle slip torque. The method of the present application improves the accuracy of torque adjustment.

Description

Technical Field

[0001] The present application relates to the field of vehicle control, and specifically to a torque adjustment method and storage medium. Background Art

[0002] While the vehicle is driving, the torque of the front and rear axles can be adjusted to enable the vehicle to drive at the optimal engine power or optimal acceleration performance.

[0003] In the related art, torque adjustment can be performed in the following manner: the vehicle's control system obtains the current torque and current driving information of the front and rear axles (for example, current vehicle speed, wheel speed, etc.). The vehicle's control system determines the desired torque of the front and rear axles based on the current driving information. The vehicle's control system can perform torque adjustment based on the desired torque of the front and rear axles of the vehicle and the current torque of the front and rear axles of the vehicle, so that the vehicle travels under the desired torque of the front and rear axles. In the above process, the vehicle adjusts the torque according to the desired torque of the front and rear axles. When the vehicle is in a slipping state, the torque cannot be accurately adjusted to avoid vehicle slipping, resulting in low accuracy of torque adjustment. Summary of the Invention

[0004] The embodiments of the present application relate to a torque adjustment method and a storage medium, which are used to solve the defect of low accuracy of torque adjustment in the prior art.

[0005] In a first aspect, an embodiment of the present application provides a torque adjustment method, the method comprising:

[0006] Get the vehicle's current front axle torque, rear axle torque, and actual speed;

[0007] Acquiring driving information of the vehicle from a chassis controller of the vehicle, the driving information including current vehicle speed, road adhesion coefficient, front axle expected torque, and rear axle expected torque;

[0008] determining a front axle slip torque and a rear axle slip torque of the vehicle according to the driving information and the actual speed, wherein the front axle slip torque and the rear axle slip torque are torques desired to prevent vehicle slip;

[0009] The torque of the vehicle is adjusted according to the current front axle torque, the current rear axle torque, the front axle slip torque, and the rear axle slip torque.

[0010] In one possible implementation, the actual speed includes an actual front axle speed; and determining the front axle slip torque of the vehicle according to the driving information and the actual speed includes:

[0011] determining a front axle slip rate of the vehicle according to the current vehicle speed and the actual front axle speed;

[0012] A front axle slip torque of the vehicle is determined according to the front axle slip ratio, the road adhesion coefficient, and the front axle desired torque.

[0013] In one possible implementation, determining the front axle slip torque of the vehicle according to the front axle slip ratio, the road adhesion coefficient, and the expected front axle torque includes:

[0014] determining a first torque according to the front axle slip ratio and the road adhesion coefficient;

[0015] The torque with the smallest absolute value between the first torque and the desired front axle torque is determined as the front axle slip torque.

[0016] In one possible implementation, determining the front axle slip rate of the vehicle according to the current vehicle speed and the actual front axle speed includes:

[0017] determining a front axle target speed corresponding to the current vehicle speed;

[0018] Obtaining a speed difference between the front axle target speed and the front axle actual speed;

[0019] The ratio of the speed difference to the front axle target speed is determined as the front axle slip ratio.

[0020] In one possible implementation, adjusting the torque of the vehicle according to the current torque of the front axle, the current torque of the rear axle, the front axle slip torque, and the rear axle slip torque includes:

[0021] determining a front axle torque adjustment amount and a rear axle torque adjustment amount according to the current front axle torque, the current rear axle torque, the front axle slip torque, and the rear axle slip torque;

[0022] adjusting the front axle torque of the vehicle according to the front axle torque adjustment amount;

[0023] The rear axle torque of the vehicle is adjusted according to the rear axle torque adjustment amount.

[0024] In one possible implementation, adjusting the front axle torque of the vehicle according to the front axle torque adjustment amount includes:

[0025] Dividing the front axle torque adjustment amount into M sub-adjustments, wherein the sum of the M sub-adjustments is equal to the front axle torque adjustment amount, where M is an integer greater than 1;

[0026] In an i-th torque adjustment cycle, the front axle torque of the vehicle is adjusted according to an i-th sub-adjustment amount, wherein i is an integer between 1 and M.

[0027] In one possible implementation, determining the front axle torque adjustment amount and the rear axle torque adjustment amount according to the current front axle torque, the current rear axle torque, the front axle slip torque, and the rear axle slip torque includes:

[0028] If the current front axle torque is different from the front axle slip torque, and the current rear axle torque is different from the rear axle slip torque, determining a difference between the front axle slip torque and the current front axle torque as the front axle torque adjustment amount, and determining a difference between the rear axle slip torque and the current rear axle torque as the rear axle torque adjustment amount;

[0029] If the current front axle torque is different from the front axle slip torque, and the current rear axle torque is the same as the rear axle slip torque, determining a difference between the front axle slip torque and the current front axle torque as the front axle torque adjustment amount, and determining an inverse of the front axle torque adjustment amount as the rear axle torque adjustment amount;

[0030] If the front axle current torque is the same as the front axle slip torque, and the rear axle current torque is different from the rear axle slip torque, the difference between the rear axle slip torque and the rear axle current torque is determined as the rear axle torque adjustment amount, and the opposite value of the rear axle torque adjustment amount is determined as the front axle torque adjustment amount.

[0031] In one possible implementation manner, before obtaining the driving information of the vehicle from the chassis controller of the vehicle, the method further includes:

[0032] Acquiring a wheel state of the vehicle, where the wheel state is a slipping state or a non-slipping state;

[0033] If the wheel state is the slipping state, it is determined to execute the step of acquiring the driving information of the vehicle from a chassis controller of the vehicle.

[0034] In one possible implementation, obtaining the current torque of the front axle, the current torque of the rear axle, and the actual speed of the vehicle includes:

[0035] According to a first processing cycle, periodically obtaining the current torque of the front axle, the current torque of the rear axle and the actual speed of the vehicle;

[0036] Acquiring driving information of the vehicle from a chassis controller of the vehicle, and determining a front axle slip torque and a rear axle slip torque of the vehicle according to the driving information and the actual speed, comprising:

[0037] periodically acquiring driving information of the vehicle from a chassis controller of the vehicle according to a second processing cycle, and determining a front axle slip torque and a rear axle slip torque of the vehicle based on the driving information and the actual speed;

[0038] The first processing period is greater than the second processing period.

[0039] In a second aspect, an embodiment of the present application provides a torque adjustment device, the device comprising:

[0040] A first acquisition module is used to acquire the current torque of the front axle, the current torque of the rear axle and the actual speed of the vehicle;

[0041] a second acquisition module, configured to acquire driving information of the vehicle from a chassis controller of the vehicle, the driving information including current vehicle speed, road adhesion coefficient, front axle expected torque, and rear axle expected torque;

[0042] a determination module, configured to determine a front axle slip torque and a rear axle slip torque of the vehicle according to the driving information and the actual speed, wherein the front axle slip torque and the rear axle slip torque are torques desired to prevent vehicle slip;

[0043] An adjustment module is configured to adjust the torque of the vehicle according to the current torque of the front axle, the current torque of the rear axle, the front axle slip torque, and the rear axle slip torque.

[0044] In one possible implementation, the determining module is specifically configured to:

[0045] determining a front axle slip rate of the vehicle according to the current vehicle speed and the actual front axle speed;

[0046] A front axle slip torque of the vehicle is determined according to the front axle slip ratio, the road adhesion coefficient, and the front axle desired torque.

[0047] In one possible implementation, the determining module is specifically configured to:

[0048] determining a first torque according to the front axle slip ratio and the road adhesion coefficient;

[0049] The torque with the smallest absolute value between the first torque and the desired front axle torque is determined as the front axle slip torque.

[0050] In one possible implementation, the determining module is specifically configured to:

[0051] determining a front axle target speed corresponding to the current vehicle speed;

[0052] Obtaining a speed difference between the front axle target speed and the front axle actual speed;

[0053] The ratio of the speed difference to the front axle target speed is determined as the front axle slip ratio.

[0054] In one possible implementation, the adjustment module is specifically configured to:

[0055] determining a front axle torque adjustment amount and a rear axle torque adjustment amount according to the current front axle torque, the current rear axle torque, the front axle slip torque, and the rear axle slip torque;

[0056] adjusting the front axle torque of the vehicle according to the front axle torque adjustment amount;

[0057] The rear axle torque of the vehicle is adjusted according to the rear axle torque adjustment amount.

[0058] In one possible implementation, the adjustment module is specifically configured to:

[0059] Dividing the front axle torque adjustment amount into M sub-adjustments, wherein the sum of the M sub-adjustments is equal to the front axle torque adjustment amount, where M is an integer greater than 1;

[0060] In an i-th torque adjustment cycle, the front axle torque of the vehicle is adjusted according to an i-th sub-adjustment amount, wherein i is an integer between 1 and M.

[0061] In one possible implementation, the adjustment module is specifically configured to:

[0062] If the current front axle torque is different from the front axle slip torque, and the current rear axle torque is different from the rear axle slip torque, determining a difference between the front axle slip torque and the current front axle torque as the front axle torque adjustment amount, and determining a difference between the rear axle slip torque and the current rear axle torque as the rear axle torque adjustment amount;

[0063] If the current front axle torque is different from the front axle slip torque, and the current rear axle torque is the same as the rear axle slip torque, determining a difference between the front axle slip torque and the current front axle torque as the front axle torque adjustment amount, and determining an inverse of the front axle torque adjustment amount as the rear axle torque adjustment amount;

[0064] If the front axle current torque is the same as the front axle slip torque, and the rear axle current torque is different from the rear axle slip torque, the difference between the rear axle slip torque and the rear axle current torque is determined as the rear axle torque adjustment amount, and the opposite value of the rear axle torque adjustment amount is determined as the front axle torque adjustment amount.

[0065] In one possible implementation, the first acquisition module is specifically configured to:

[0066] According to a first processing cycle, periodically obtaining the current torque of the front axle, the current torque of the rear axle and the actual speed of the vehicle;

[0067] The second acquisition module and the determination module are specifically configured to:

[0068] periodically acquiring driving information of the vehicle from a chassis controller of the vehicle according to a second processing cycle, and determining a front axle slip torque and a rear axle slip torque of the vehicle based on the driving information and the actual speed;

[0069] The first processing period is greater than the second processing period.

[0070] In one possible implementation manner, the device further includes a third acquisition module.

[0071] Wherein, the third acquisition module is used for:

[0072] Acquiring a wheel state of the vehicle, where the wheel state is a slipping state or a non-slipping state;

[0073] If the wheel state is the slipping state, it is determined to execute the step of acquiring the driving information of the vehicle from a chassis controller of the vehicle.

[0074] In a third aspect, an embodiment of the present application provides a vehicle, comprising: a memory and a processor;

[0075] The memory stores computer program instructions;

[0076] The processor executes the computer program instructions stored in the memory to implement the method as described in any one of the first aspects.

[0077] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer program instructions, which are used to implement any one of the methods in the first aspect when the computer program instructions are executed by a processor.

[0078] In a fifth aspect, an embodiment of the present application provides a computer program product, comprising a computer program, which implements any one of the methods in the first aspect when executed by a processor.

[0079] An embodiment of the present application provides a torque regulation method and storage medium, which obtains the current torque of the front axle, the current torque of the rear axle and the actual speed of the vehicle. The driving information of the vehicle is obtained from the chassis controller of the vehicle, and the driving information includes the current vehicle speed, the road adhesion coefficient, the expected torque of the front axle and the expected torque of the rear axle. According to the driving information and the actual speed, the front axle slip torque and the rear axle slip torque of the vehicle are determined, and the front axle slip torque and the rear axle slip torque are the torques expected to avoid vehicle slippage. According to the current torque of the front axle, the current torque of the rear axle, the front axle slip torque and the rear axle slip torque, the torque of the vehicle is adjusted. In the above process, after the chassis controller of the vehicle obtains the front axle slip torque and the rear axle slip torque, the front axle slip torque and the rear axle slip torque of the vehicle can also be determined according to the driving information. This avoids the situation where the chassis controller of the vehicle determines the expected torque with low accuracy, thereby improving the accuracy of torque regulation. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] In order to more clearly illustrate the technical solutions in this application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0081] Figure 1 Schematic diagram of application scenarios provided by embodiments of the present application;

[0082] Figure 2 A schematic flow chart of a torque adjustment method provided in an embodiment of the present application;

[0083] Figure 3 A schematic flow chart of another torque adjustment method provided in an embodiment of the present application;

[0084] Figure 4 A schematic diagram of the torque adjustment process provided in an embodiment of the present application;

[0085] Figure 5 A schematic structural diagram of a torque adjustment device provided in an embodiment of the present application;

[0086] Figure 6 A schematic structural diagram of another torque adjustment device provided in an embodiment of the present application;

[0087] Figure 7 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application.

[0088] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0089] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0090] It should be noted that although the terms "first" and "second" are used to describe various information in the embodiments of this application, such information should not be limited to these terms. These terms are merely used to distinguish information of the same type from each other. Alternatively, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information.

[0091] It should be understood that the terms "comprise" and "include" indicate the presence of the previously mentioned features, steps, or operations, but do not exclude the presence, occurrence, or addition of one or at least one other feature, step, or operation. The terms "and / or" and the like used in this application may be interpreted as inclusive, or may mean any one or any combination. Alternatively, "A and / or B" means "any of the following: A; B; A and B." In addition, the character " / " in this document generally indicates that the preceding and following objects are in an "or" relationship.

[0092] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0093] Figure 1 This is a schematic diagram of an application scenario provided by the embodiment of this application. Figure 1 , including vehicle 101. During driving, vehicle 101 can be driven at optimal performance by adjusting the front and rear axle torques of vehicle 101. If vehicle 101 is slipping, slipping can also be avoided by adjusting the front and rear axle torques of vehicle 101.

[0094] In the related art, torque adjustment can be performed in the following manner: the vehicle's control system obtains the current torque and current driving information of the front and rear axles (for example, current vehicle speed, wheel speed, etc.). The vehicle's control system determines the desired torque of the front and rear axles based on the current driving information. The vehicle's control system can perform torque adjustment based on the desired torque of the front and rear axles of the vehicle and the current torque of the front and rear axles of the vehicle, so that the vehicle travels under the desired torque of the front and rear axles. In the above process, the vehicle adjusts the torque according to the desired torque of the front and rear axles. When the vehicle is in a slipping state, the torque cannot be accurately adjusted to avoid vehicle slipping, resulting in low accuracy of torque adjustment.

[0095] In order to solve the above technical problems, an embodiment of the present application provides a torque adjustment method to obtain the current torque of the front axle, the current torque of the rear axle and the actual speed of the vehicle. The driving information of the vehicle is obtained from the chassis controller of the vehicle. The driving information includes the current vehicle speed, the road adhesion coefficient, the expected torque of the front axle and the expected torque of the rear axle. According to the driving information and the actual speed, the front axle slip torque and the rear axle slip torque of the vehicle are determined. The front axle slip torque and the rear axle slip torque are the torques expected to avoid vehicle slippage. According to the current torque of the front axle, the current torque of the rear axle, the front axle slip torque and the rear axle slip torque, the torque of the vehicle is adjusted. In the above process, after the chassis controller of the vehicle obtains the expected torque of the front axle and the expected torque of the rear axle, the front axle slip torque and the rear axle slip torque of the vehicle can also be determined according to the driving information. This avoids the situation where the torque cannot be accurately adjusted when the vehicle is in a slipping state to avoid vehicle slippage, thereby improving the accuracy of torque adjustment.

[0096] The technical solutions shown in this application are described in detail below through specific embodiments. It should be noted that the following embodiments can exist independently or in combination with each other, and the same or similar contents will not be repeated in different embodiments.

[0097] Figure 2 This is a flow chart of a torque adjustment method provided in an embodiment of the present application. Figure 2 , the method comprising:

[0098] S201. Obtain the current front axle torque, the current rear axle torque, and the actual rotational speed of the vehicle.

[0099] The execution subject of the embodiments of the present application may be a vehicle, or a torque regulating device provided in the vehicle. The torque regulating device may be implemented by software, or by a combination of software and hardware. The torque regulating device may be a power domain controller. The power domain controller includes a domain controller of a vehicle control unit (VCU) and a microcontroller unit (MCU).

[0100] During normal driving, the vehicle can employ a torque distribution method tailored to different driving scenarios. This distribution method can be switched based on the current driving state, distributing the total drive torque proportionally between the front axle torque of the front motor and the rear axle torque of the rear motor. For example, combined drive with both front and rear motors can be used to achieve optimal acceleration performance, while single-motor drive with optimal efficiency can be used to achieve optimal motor economy. The total torque can be set in advance and stored in the vehicle's pre-set memory.

[0101] After determining the total torque, the current front and rear axle torques can be determined based on the vehicle's current speed, gear, and acceleration. The total torque and the torque distribution ratio between the front and rear axles can be set in advance. In actual use, the total torque and torque distribution ratio can be obtained based on the driving scenario to determine the vehicle's current front and rear axle torques.

[0102] The actual speed of the vehicle's front and rear motors can be obtained from the chassis controller.

[0103] For example, the total torque of vehicle A is determined to be 1000 N·m. During normal driving, vehicle A can determine that the torque distribution method is the one that optimizes the efficiency of the front and rear motors to meet motor economy. In this case, the torque distribution ratio of vehicle A is obtained as the current front axle torque: the current rear axle torque = 6:4. Therefore, the current front axle torque of vehicle A is determined to be 600 N·m, and the current rear axle torque is determined to be 400 N·m. The actual speed of the front axle of vehicle A is obtained from the chassis controller as 600 rpm, and the actual speed of the rear axle of vehicle A is obtained as 800 rpm.

[0104] S202: Acquire vehicle driving information from a chassis controller of the vehicle.

[0105] Driving information includes current vehicle speed, road adhesion coefficient, front axle desired torque and rear axle desired torque.

[0106] After the vehicle's power domain controller and chassis domain controller are threshold-fused, more data information such as the road adhesion coefficient can be obtained from the chassis controller, which improves the flexibility of information interaction between the power domain controller and the chassis domain controller.

[0107] The road adhesion coefficient indicates the vehicle's adhesion to the road. A high road adhesion coefficient indicates a safe and non-slip vehicle. A low road adhesion coefficient indicates a high degree of slippage. For example, when driving on snow or ice, the vehicle's chassis controller may receive a road adhesion coefficient of 0.1 to 0.2. When driving on a wet cement road, the vehicle's chassis controller may receive a road adhesion coefficient of 0.4 to 0.6.

[0108] The front axle desired torque and rear axle desired torque are determined by the vehicle chassis controller using a preset algorithm based on the current wheel speed and road adhesion coefficient. The front axle desired torque and rear axle desired torque are the desired torques determined by the vehicle chassis controller to prevent vehicle slip.

[0109] For example, after determining the current torque of the front axle and the current torque of the rear axle of vehicle A, the driving information of vehicle A obtained from the chassis controller of the vehicle may be specifically as shown in Table 1:

[0110] Table 1

[0111] Current vehicle speed Road adhesion coefficient Expected torque on the front axle Expected rear axle torque 45Km / h 0.25 400 400

[0112] S203: Determine the front axle slip torque and the rear axle slip torque of the vehicle according to the driving information and the actual rotation speed.

[0113] The front axle slip torque and the rear axle slip torque are the torques required to prevent the vehicle from slipping. The actual speed includes the actual front axle speed.

[0114] The front axle slip torque of the vehicle can be determined based on driving information and actual speed in the following ways: determining the front axle slip rate of the vehicle based on the current vehicle speed and the actual front axle speed; determining the front axle slip torque of the vehicle based on the front axle slip rate, the road adhesion coefficient and the expected front axle torque.

[0115] It should be noted that the method of determining the rear axle slip torque of the vehicle based on the driving information is the same as the method of determining the front axle slip torque of the vehicle.

[0116] For example, based on the example above, the actual front axle speed of vehicle A is determined to be 600 rpm. Based on the current vehicle speed and the actual front axle speed shown in Table 1, the front axle slip ratio of vehicle A is determined to be 0.4. Based on the front axle slip ratio, the road adhesion coefficient shown in Table 1, and the desired front axle torque, the front axle slip torque of the vehicle is determined to be 300 N·m. Using this method, the rear axle slip torque is determined to be 360 N·m.

[0117] S204: Adjust the vehicle torque according to the current front axle torque, the current rear axle torque, the front axle slip torque, and the rear axle slip torque.

[0118] The vehicle's torque can be adjusted based on the current torque of the front axle, the current torque of the rear axle, the front axle slip torque and the rear axle slip torque in the following manner: determine the front axle torque adjustment amount and the rear axle torque adjustment amount based on the current torque of the front axle, the current torque of the rear axle, the front axle slip torque and the rear axle slip torque; adjust the front axle torque of the vehicle based on the front axle torque adjustment amount; adjust the rear axle torque of the vehicle based on the rear axle torque adjustment amount.

[0119] When performing torque adjustment, the front axle torque adjustment amount and the rear axle torque adjustment amount can be subjected to torque filtering processing, and the front axle torque adjustment amount and the rear axle torque adjustment amount can be divided into multiple sub-adjustments respectively, so that the torque adjustment can have a smooth transition, thereby reducing the impact of torque mutation on the driver.

[0120] For example, according to the above example, the multiple torques of the front axle and the rear axle can be specifically shown in Table 2:

[0121] Table 2

[0122] Current torque on the front axle Front axle slip torque Current torque on rear axle Rear axle slip torque 600N·m 300N·m 400N·m 360N·m

[0123] As shown in Table 2, based on the current front axle torque and front axle slip torque, the front axle torque adjustment for vehicle A is determined to be 600 N·m - 300 N·m = 300 N·m. Based on the current rear axle torque and rear axle slip torque, the front axle torque adjustment for vehicle A is determined to be 400 N·m - 360 N·m = 40 N·m. The front axle torque of vehicle A is adjusted based on the front axle torque adjustment, and the rear axle torque of vehicle A is adjusted based on the rear axle torque adjustment. The adjusted current front axle torque is the front-to-back slip torque, and the adjusted current rear axle torque is the rear axle slip torque.

[0124] The torque regulation method provided in this embodiment obtains the current torque of the front axle, the current torque of the rear axle and the actual speed of the vehicle. The driving information of the vehicle is obtained from the chassis controller of the vehicle. Based on the driving information and the actual speed, the front axle slip torque and the rear axle slip torque of the vehicle are determined. The torque of the vehicle is adjusted based on the current torque of the front axle, the current torque of the rear axle, the front axle slip torque and the rear axle slip torque. In the above process, after the chassis controller of the vehicle obtains the front axle slip torque and the rear axle slip torque, the front axle slip torque and the rear axle slip torque of the vehicle can also be determined based on the driving information. This avoids the situation where the chassis controller of the vehicle determines the expected torque with low accuracy, thereby improving the accuracy of torque regulation.

[0125] Based on any of the above embodiments, Figure 3 , the detailed process of torque adjustment is explained.

[0126] Figure 3 This is a flow chart of another torque adjustment method provided in an embodiment of the present application. Figure 3 , the method comprising:

[0127] S301: Obtain the current front axle torque, the current rear axle torque, and the actual rotational speed of the vehicle.

[0128] The current torque of the front axle, the current torque of the rear axle, and the actual speed of the vehicle may be periodically obtained according to a first processing cycle. The first processing cycle may have a duration of 10 ms.

[0129] S302: Acquire the wheel status of the vehicle.

[0130] The wheel state is either a slipping state or a non-slipping state.

[0131] The wheel status of the vehicle can be obtained from the status of the traction control system (TCS) of the vehicle's chassis controller.

[0132] S303: If the wheel state is a slipping state, obtain the vehicle's driving information from the vehicle's chassis controller.

[0133] According to a second processing cycle, the vehicle's driving information may be periodically obtained from the vehicle's chassis controller, and the front axle slip torque and rear axle slip torque of the vehicle may be determined based on the driving information and the actual speed. The first processing cycle is greater than the second processing cycle. The second processing cycle may have a duration of 1 millisecond.

[0134] S304: Determine the front axle slip rate of the vehicle according to the current vehicle speed and the actual front axle rotation speed.

[0135] The front axle slip rate of the vehicle can be determined based on the current vehicle speed and the actual front axle speed in the following manner: determine the front axle target speed corresponding to the current vehicle speed; obtain the speed difference between the front axle target speed and the actual front axle speed; and determine the ratio of the speed difference to the front axle target speed as the front axle slip rate.

[0136] The front axle target speed corresponding to the current vehicle speed can be determined using the following formula 1:

[0137] Vr=Vc×1000÷60÷C

[0138] Wherein, Vr is the target speed of the front axle, in r / min; Vc is the current vehicle speed, in km / h; C is the circumference of the vehicle tire, in m.

[0139] For example, assume that the front axle target speed corresponding to vehicle B's current speed is 1500 rpm. The actual front axle speed of vehicle B is 900 rpm. Therefore, the speed difference between the target and actual front axle speeds is determined to be 1500 rpm - 900 rpm = 600 rpm. The front axle slip ratio is determined to be 600 / 1500 = 0.4.

[0140] S305 : Determine the front axle slip torque of the vehicle according to the front axle slip ratio, the road adhesion coefficient, and the expected front axle torque.

[0141] The front axle slip torque of the vehicle can be determined based on the front axle slip rate, road adhesion coefficient and desired front axle torque in the following manner: a first torque is determined based on the front axle slip rate and road adhesion coefficient; and the torque with the smallest absolute value between the first torque and the desired front axle torque is determined as the front axle slip torque.

[0142] The first torque may be determined according to the front axle slip rate and the road adhesion coefficient using a preset model or a preset algorithm. The preset model or the preset algorithm may be set in advance and stored in a preset storage space of the vehicle.

[0143] In actual applications, the front axle slip torque can be determined based on the desired front axle torque range and the first front axle torque range. When the motor speed is greater than the actual speed, the first torque can be determined based on the front axle slip ratio and the road adhesion coefficient using a preset model or algorithm. The first torque is determined as the maximum value within the first torque range, and the preset minimum value is determined as the minimum value within the first torque range. The preset minimum value is less than the minimum value within the vehicle's adjustable torque range.

[0144] When the motor speed is lower than the actual speed, a first torque may be determined based on the front axle slip ratio and the road adhesion coefficient using a preset model or algorithm. A preset maximum value is determined as the maximum value corresponding to the first torque range, and the first torque is determined as the minimum value corresponding to the first torque range. The preset maximum value is less than the maximum value corresponding to the vehicle's adjustable torque range.

[0145] Since the vehicle torque cannot be adjusted to the preset maximum value or the preset minimum value after adjustment, after determining the range, the vehicle torque can be adjusted to the first torque or the front axle desired torque.

[0146] For example, based on the example above, the front axle slip ratio is determined to be 0.4. The vehicle uses a preset model to determine a first torque of 360 N·m based on the front axle slip ratio and the road adhesion coefficient. Based on driving information from vehicle B, the desired front axle torque is determined to be 300 N·m. The vehicle then determines the desired front axle torque to be the torque with the smallest absolute value between the first torque and the desired front axle torque. Therefore, the vehicle determines the front axle slip torque to be 300 N·m.

[0147] Because the chassis controller determines the desired torque based on the current wheel speed and road adhesion coefficient, the vehicle determines the first torque based on the current motor speed and road adhesion coefficient. The ratio between the current wheel speed and the current rotational speed is tens to hundreds of times greater. Therefore, determining the first torque based on the current rotational speed is more accurate than determining the desired torque based on the current wheel speed. Determining the slip torque based on the first torque and the desired torque improves torque regulation accuracy. Furthermore, the first torque can be determined every 1ms, which improves torque regulation efficiency compared to determining the desired torque every 10ms.

[0148] S306: Determine the rear axle slip torque of the vehicle.

[0149] The rear axle slip torque of the vehicle can be determined in the following ways: obtaining the actual rear axle speed of the vehicle; determining the rear axle slip rate of the vehicle based on the current vehicle speed and the actual rear axle speed; and determining the rear axle slip torque of the vehicle based on the rear axle slip rate, the road adhesion coefficient, and the expected torque of the rear axle.

[0150] The rear axle slip rate of the vehicle can be determined in the following manner: determining the rear axle target speed corresponding to the current vehicle speed; obtaining the speed difference between the rear axle target speed and the actual rear axle speed; and determining the rear axle slip rate as the ratio of the speed difference to the rear axle target speed.

[0151] The rear axle slip torque of the vehicle can be determined based on the rear axle slip rate, road adhesion coefficient and desired rear axle torque in the following manner: a second torque is determined based on the rear axle slip rate and road adhesion coefficient; and the torque with the smallest absolute value between the second torque and the desired rear axle torque is determined as the rear axle slip torque.

[0152] S307 : Determine a front axle torque adjustment amount and a rear axle torque adjustment amount according to the current front axle torque, the current rear axle torque, the front axle slip torque, and the rear axle slip torque.

[0153] The front axle torque adjustment amount and the rear axle torque adjustment amount can be determined in the following manner: if the current torque of the front axle is different from the front axle slip torque, and the current torque of the rear axle is different from the rear axle slip torque, the difference between the front axle slip torque and the current torque of the front axle is determined as the front axle torque adjustment amount, and the difference between the rear axle slip torque and the current torque of the rear axle is determined as the rear axle torque adjustment amount; if the current torque of the front axle is different from the front axle slip torque, and the current torque of the rear axle is the same as the rear axle slip torque, the difference between the front axle slip torque and the current torque of the front axle is determined as the front axle torque adjustment amount, and the opposite value of the front axle torque adjustment amount is determined as the rear axle torque adjustment amount; if the current torque of the front axle is the same as the front axle slip torque, and the current torque of the rear axle is different from the rear axle slip torque, the difference between the rear axle slip torque and the current torque of the rear axle is determined as the rear axle torque adjustment amount, and the opposite value of the rear axle torque adjustment amount is determined as the front axle torque adjustment amount.

[0154] The front axle torque adjustment amount and the rear axle torque adjustment amount may be determined every 10 ms.

[0155] For example, according to the above example, the multiple torques of vehicle B may be determined as shown in Table 3:

[0156] Table 3

[0157]

[0158]

[0159] Table 3 shows that the current front axle torque is the same as the front axle slip torque, while the current rear axle torque is different from the rear axle slip torque. The vehicle determines the rear axle torque adjustment as 400 N·m - 350 N·m = 50 N·m. The opposite of the rear axle torque adjustment, -50 N·m, is then determined as the front axle torque adjustment.

[0160] When it's determined that only the front or rear axle torque needs adjustment, the system can shift and control the front and rear axle torques based on the torque adjustment amount to ensure the sum of the current front and rear axle torques remains constant. This reduces power consumption and makes the driver virtually imperceptible to the impact of torque adjustment, enhancing the driving experience.

[0161] S308: Adjust the front axle torque of the vehicle according to the front axle torque adjustment amount.

[0162] The front axle torque of the vehicle can be adjusted according to the front axle torque adjustment amount in the following manner: the front axle torque adjustment amount is divided into M sub-adjustments, the sum of the M sub-adjustments is equal to the front axle torque adjustment amount, and M is an integer greater than 1; in the i-th torque adjustment cycle, the front axle torque of the vehicle is adjusted according to the i-th sub-adjustment amount, where i is an integer between 1 and M.

[0163] The duration of the torque adjustment cycle may be 1ms. Each sub-adjustment amount may be the same or different.

[0164] In actual application, the corresponding torque can be adjusted by adjusting the motor speed.

[0165] For example, according to the above example, the front axle torque adjustment amount is determined to be -50 N·m. That is, the front axle torque is reduced by 50 N·m. The front axle torque adjustment amount is divided into 100 sub-adjustments, each of which can be -0.5 N·m. In the first torque adjustment cycle, the front axle torque of the vehicle is adjusted according to the first sub-adjustment amount. In the second torque adjustment cycle, the front axle torque of the vehicle is adjusted according to the second sub-adjustment amount. And so on, until the 100th torque adjustment cycle, the front axle torque of the vehicle is adjusted according to the 100th sub-adjustment amount. That is, the front axle torque is adjusted from 400 N·m to 350 N·m.

[0166] S309: Adjust the rear axle torque of the vehicle according to the rear axle torque adjustment amount.

[0167] It should be noted that the execution process of S309 can be referred to S308 and will not be repeated here.

[0168] The torque regulation method provided in this embodiment obtains the current front axle torque, current rear axle torque, and actual speed of a vehicle. The vehicle's wheel status is obtained. When the wheel status is slipping, the vehicle's driving information is obtained from the vehicle's chassis controller. The vehicle's front axle slip ratio is determined based on the current vehicle speed and the actual front axle speed. The vehicle's front axle slip torque is determined based on the front axle slip ratio, the road adhesion coefficient, and the desired front axle torque. The front axle torque adjustment amount and the rear axle torque adjustment amount are determined based on the current front axle torque, the current rear axle torque, the front axle slip torque, and the rear axle slip torque. The vehicle's front axle torque is adjusted based on the front axle torque adjustment amount. The vehicle's rear axle torque is adjusted based on the rear axle torque adjustment amount. In the above process, a new fusion function is achieved through deep integration of the power domain controller and chassis domain controller, leveraging the differences in execution time for different task scheduling within the power domain controllers. Furthermore, after the vehicle's chassis controller obtains the desired front axle torque and the desired rear axle torque, it can also determine the vehicle's front axle slip torque and the rear axle slip torque based on the driving information. This prevents the situation where the torque cannot be accurately adjusted when the vehicle is in a slipping state, thereby improving the accuracy of torque adjustment.

[0169] Based on any of the above embodiments, Figure 4 , the process of torque regulation is illustrated with an example.

[0170] Figure 4 This is a schematic diagram of the torque adjustment process provided by the embodiment of this application. Figure 7, including vehicle 401. Vehicle 401 includes a torque distribution module, a slip torque control module, a torque transfer control module, a torque filtering module, and a motor torque control module. The torque distribution module of vehicle 401 determines the current front axle torque and the current rear axle torque of the vehicle every 10 ms according to a first processing cycle. Vehicle 401 obtains from the vehicle's chassis controller that the vehicle's wheels are in a slipping state. At this point, the slip torque control module of vehicle 401 obtains the vehicle's driving information from the vehicle's chassis controller, specifically as shown in Table 4:

[0171] Table 4

[0172] Current vehicle speed Road adhesion coefficient Expected torque on the front axle Expected rear axle torque 60km / h 0.1 400N·m 400N·m

[0173] The slip torque control module of vehicle 401 obtains the actual speed of the front axle of the vehicle, and determines that the front axle slip rate of the vehicle is 0.5 based on the current vehicle speed and the actual speed of the front axle. The slip torque control module of vehicle 401 determines that the first torque is 350N·m based on the front axle slip rate and the road adhesion coefficient. The slip torque control module of vehicle 401 determines that the slip torque of the front axle is 350N·m based on the front axle desired torque and the first torque. The slip torque control module of vehicle 401 obtains the actual speed of the rear axle of the vehicle, and determines that the rear axle slip rate of the vehicle is 0.2 based on the current vehicle speed and the actual speed of the front axle. The slip torque control module of vehicle 401 determines that the rear axle slip torque is 400N·m based on the rear axle slip rate, the road adhesion coefficient and the rear axle desired torque. The slip torque control module of vehicle 401 determines that the multiple torques of the vehicle can be specifically shown in Table 5:

[0174] Table 5

[0175] Current torque on the front axle Front axle slip torque Current torque on rear axle Rear axle slip torque 500N·m 350N·m 400N·m 400N·m

[0176] Based on Table 5, the torque transfer control module of vehicle 401 determines that the current front axle torque is different from the front axle slip torque, and that the current rear axle torque is the same as the rear axle slip torque. The torque transfer control module of vehicle 401 determines the front axle torque adjustment as 500 N·m - 350 N·m = 150 N·m. The opposite of the front axle torque adjustment, -150 N·m, is then determined as the rear axle torque adjustment.

[0177] The torque filtering module of vehicle 401 divides the front axle torque adjustment into M sub-adjustments, the sum of which equals the front axle torque adjustment, where M is an integer greater than 1. The rear axle torque adjustment is divided into N sub-adjustments, the sum of which equals the rear axle torque adjustment, where N is an integer greater than 1. During the i-th torque adjustment cycle, the motor torque control module of vehicle 401 adjusts the front axle torque of the vehicle according to the i-th sub-adjustment, where i is 1, 2, ..., M. This means that the current front axle torque is adjusted from 500 N·m to 350 N·m. During the n-th torque adjustment cycle, the motor torque control module of vehicle 401 adjusts the front axle torque of the vehicle according to the n-th sub-adjustment, where n is 1, 2, ..., N. This means that the current front axle torque is adjusted from 400 N·m to 550 N·m.

[0178] The torque adjustment process provided in this embodiment obtains the current front axle torque, current rear axle torque, and actual speed of the vehicle. The vehicle's wheel status is obtained. When the wheel status is slipping, the vehicle's driving information is obtained from the vehicle's chassis controller. The vehicle's front axle slip ratio is determined based on the current vehicle speed and the actual front axle speed. The vehicle's front axle slip torque is determined based on the front axle slip ratio, the road adhesion coefficient, and the desired front axle torque. The front axle torque adjustment amount and the rear axle torque adjustment amount are determined based on the current front axle torque, the current rear axle torque, the front axle slip torque, and the rear axle slip torque. The vehicle's front axle torque is adjusted based on the front axle torque adjustment amount. The vehicle's rear axle torque is adjusted based on the rear axle torque adjustment amount. In the above process, deep integration between the power domain controller and chassis domain controller is achieved by leveraging the differences in execution time for different task scheduling within the power domain controllers. Furthermore, after the vehicle's chassis controller obtains the desired front axle torque and the desired rear axle torque, it can also determine the vehicle's front axle slip torque and the rear axle slip torque based on the driving information. This prevents the situation where the torque cannot be accurately adjusted when the vehicle is in a slipping state, thereby improving the accuracy of torque adjustment.

[0179] Figure 5 This is a schematic diagram of the structure of a torque adjustment device provided in an embodiment of the present application. Figure 5 , the torque adjustment device 10 may include:

[0180] A first acquisition module 11 is configured to acquire the current torque of the front axle, the current torque of the rear axle, and the actual speed of the vehicle;

[0181] a second acquisition module 12, configured to acquire driving information of the vehicle from a chassis controller of the vehicle, the driving information including current vehicle speed, road adhesion coefficient, front axle expected torque, and rear axle expected torque;

[0182] a determination module 13, configured to determine a front axle slip torque and a rear axle slip torque of the vehicle according to the driving information and the actual speed, wherein the front axle slip torque and the rear axle slip torque are torques desired to prevent the vehicle from slipping;

[0183] The adjustment module 14 is configured to adjust the torque of the vehicle according to the current torque of the front axle, the current torque of the rear axle, the front axle slip torque, and the rear axle slip torque.

[0184] In one possible implementation, the determining module 13 is specifically configured to:

[0185] determining a front axle slip rate of the vehicle according to the current vehicle speed and the actual front axle speed;

[0186] A front axle slip torque of the vehicle is determined according to the front axle slip ratio, the road adhesion coefficient, and the front axle desired torque.

[0187] In one possible implementation, the determining module 13 is specifically configured to:

[0188] determining a first torque according to the front axle slip ratio and the road adhesion coefficient;

[0189] The torque with the smallest absolute value between the first torque and the desired front axle torque is determined as the front axle slip torque.

[0190] In one possible implementation, the determining module 13 is specifically configured to:

[0191] determining a front axle target speed corresponding to the current vehicle speed;

[0192] Obtaining a speed difference between the front axle target speed and the front axle actual speed;

[0193] The ratio of the speed difference to the front axle target speed is determined as the front axle slip ratio.

[0194] In one possible implementation, the adjustment module 14 is specifically configured to:

[0195] determining a front axle torque adjustment amount and a rear axle torque adjustment amount according to the front axle current torque, the rear axle current torque, the front axle slip torque, and the rear axle slip torque;

[0196] adjusting the front axle torque of the vehicle according to the front axle torque adjustment amount;

[0197] The rear axle torque of the vehicle is adjusted according to the rear axle torque adjustment amount.

[0198] In one possible implementation, the adjustment module 14 is specifically configured to:

[0199] Dividing the front axle torque adjustment amount into M sub-adjustments, wherein the sum of the M sub-adjustments is equal to the front axle torque adjustment amount, where M is an integer greater than 1;

[0200] In an i-th torque adjustment cycle, the front axle torque of the vehicle is adjusted according to an i-th sub-adjustment amount, wherein i is an integer between 1 and M.

[0201] In one possible implementation, the adjustment module 14 is specifically configured to:

[0202] If the current front axle torque is different from the front axle slip torque, and the current rear axle torque is different from the rear axle slip torque, determining a difference between the front axle slip torque and the current front axle torque as the front axle torque adjustment amount, and determining a difference between the rear axle slip torque and the current rear axle torque as the rear axle torque adjustment amount;

[0203] If the current front axle torque is different from the front axle slip torque, and the current rear axle torque is the same as the rear axle slip torque, determining a difference between the front axle slip torque and the current front axle torque as the front axle torque adjustment amount, and determining an inverse of the front axle torque adjustment amount as the rear axle torque adjustment amount;

[0204] If the front axle current torque is the same as the front axle slip torque, and the rear axle current torque is different from the rear axle slip torque, the difference between the rear axle slip torque and the rear axle current torque is determined as the rear axle torque adjustment amount, and the opposite value of the rear axle torque adjustment amount is determined as the front axle torque adjustment amount.

[0205] In one possible implementation, the first acquisition module 11 is specifically configured to:

[0206] According to a first processing cycle, periodically obtaining the current torque of the front axle, the current torque of the rear axle and the actual speed of the vehicle;

[0207] The second acquisition module 12 and the determination module 13 are specifically configured to:

[0208] periodically acquiring driving information of the vehicle from a chassis controller of the vehicle according to a second processing cycle, and determining a front axle slip torque and a rear axle slip torque of the vehicle based on the driving information and the actual speed;

[0209] The first processing period is greater than the second processing period.

[0210] Figure 6 This is a schematic diagram of the structure of another torque adjustment device provided in an embodiment of the present application. Figure 5Based on the examples shown, see Figure 6 The torque adjustment device 10 further includes a third acquisition module 15 .

[0211] The third acquisition module 15 is used for:

[0212] Acquiring a wheel state of the vehicle, where the wheel state is a slipping state or a non-slipping state;

[0213] If the wheel state is the slipping state, it is determined to execute the step of acquiring the driving information of the vehicle from a chassis controller of the vehicle.

[0214] Figure 7 This is a schematic diagram of the structure of the vehicle provided in the embodiment of this application. Figure 7 The vehicle 20 may include a memory 21 and a processor 22. For example, the memory 21 and the processor 22 are interconnected via a bus 23.

[0215] The memory 21 is used to store program instructions;

[0216] The processor 22 is configured to execute program instructions stored in the memory, so as to enable the vehicle 20 to execute the method shown in the above method embodiment.

[0217] An embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, which are used to implement the above method when executed by a processor.

[0218] An embodiment of the present application further provides a computer program product, which can be executed by a processor. When the computer program product is executed, the above method can be implemented.

[0219] The torque adjustment device, vehicle, computer-readable storage medium and computer program product of the embodiments of the present application can execute the technical solutions shown in the above-mentioned vehicle control method embodiments. Their implementation principles and beneficial effects are similar and will not be repeated here.

[0220] All or part of the steps of the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a readable memory. When the program is executed, it performs the steps of the above-mentioned method embodiments; and the aforementioned memory (storage medium) includes: read-only memory (ROM), random access memory (RAM), flash memory, hard disk, solid-state drive, magnetic tape, floppy disk, optical disc, and any combination thereof.

[0221] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processing unit of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0222] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0223] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0224] Obviously, those skilled in the art may make various changes and modifications to the embodiments of the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the embodiments of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations.

Claims

1. A torque adjustment method, characterized in that: The method comprises: Get the vehicle's current front axle torque, rear axle torque, and actual speed; Acquiring driving information of the vehicle from a chassis controller of the vehicle, the driving information including current vehicle speed, road adhesion coefficient, front axle expected torque, and rear axle expected torque; determining a front axle slip torque and a rear axle slip torque of the vehicle according to the driving information and the actual speed, wherein the front axle slip torque and the rear axle slip torque are torques desired to prevent vehicle slip; adjusting the torque of the vehicle according to the current torque of the front axle, the current torque of the rear axle, the front axle slip torque, and the rear axle slip torque; The actual speed includes an actual front axle speed; and determining the front axle slip torque of the vehicle according to the driving information and the actual speed includes: determining a front axle slip rate of the vehicle according to the current vehicle speed and the actual front axle speed; determining a first torque according to the front axle slip ratio and the road adhesion coefficient; The torque with the smallest absolute value between the first torque and the desired front axle torque is determined as the front axle slip torque.

2. The method according to claim 1, characterized in that Determining a front axle slip rate of the vehicle according to the current vehicle speed and the actual front axle speed includes: determining a front axle target speed corresponding to the current vehicle speed; Obtaining a speed difference between the front axle target speed and the front axle actual speed; The ratio of the speed difference to the front axle target speed is determined as the front axle slip ratio.

3. The method according to claim 1 or 2, characterized in that Adjusting the torque of the vehicle according to the current torque of the front axle, the current torque of the rear axle, the front axle slip torque, and the rear axle slip torque includes: determining a front axle torque adjustment amount and a rear axle torque adjustment amount according to the front axle current torque, the rear axle current torque, the front axle slip torque, and the rear axle slip torque; adjusting the front axle torque of the vehicle according to the front axle torque adjustment amount; The rear axle torque of the vehicle is adjusted according to the rear axle torque adjustment amount.

4. The method according to claim 3, characterized in that Adjusting the front axle torque of the vehicle according to the front axle torque adjustment amount includes: Dividing the front axle torque adjustment amount into M sub-adjustments, wherein the sum of the M sub-adjustments is equal to the front axle torque adjustment amount, where M is an integer greater than 1; In an i-th torque adjustment cycle, the front axle torque of the vehicle is adjusted according to an i-th sub-adjustment amount, wherein i is an integer between 1 and M.

5. The method according to claim 4, characterized in that Determining a front axle torque adjustment amount and a rear axle torque adjustment amount according to the front axle current torque, the rear axle current torque, the front axle slip torque, and the rear axle slip torque includes: If the current front axle torque is different from the front axle slip torque, and the current rear axle torque is different from the rear axle slip torque, determining a difference between the front axle slip torque and the current front axle torque as the front axle torque adjustment amount, and determining a difference between the rear axle slip torque and the current rear axle torque as the rear axle torque adjustment amount; If the current front axle torque is different from the front axle slip torque, and the current rear axle torque is the same as the rear axle slip torque, determining a difference between the front axle slip torque and the current front axle torque as the front axle torque adjustment amount, and determining an inverse of the front axle torque adjustment amount as the rear axle torque adjustment amount; If the front axle current torque is the same as the front axle slip torque, and the rear axle current torque is different from the rear axle slip torque, the difference between the rear axle slip torque and the rear axle current torque is determined as the rear axle torque adjustment amount, and the opposite value of the rear axle torque adjustment amount is determined as the front axle torque adjustment amount.

6. The method according to any one of claims 1-2, 4-5, characterized in that: Before obtaining the driving information of the vehicle from the chassis controller of the vehicle, the method further includes: Acquiring a wheel state of the vehicle, where the wheel state is a slipping state or a non-slipping state; If the wheel state is the slipping state, it is determined to execute the step of acquiring the driving information of the vehicle from a chassis controller of the vehicle.

7. The method according to any one of claims 1-2, 4-5, characterized in that: Get the vehicle's current front axle torque, rear axle torque, and actual speed, including: According to a first processing cycle, periodically obtaining the current torque of the front axle, the current torque of the rear axle and the actual speed of the vehicle; Acquiring driving information of the vehicle from a chassis controller of the vehicle, and determining a front axle slip torque and a rear axle slip torque of the vehicle based on the driving information, comprising: periodically acquiring driving information of the vehicle from a chassis controller of the vehicle according to a second processing cycle, and determining a front axle slip torque and a rear axle slip torque of the vehicle based on the driving information and the actual speed; The first processing period is greater than the second processing period.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer program instructions, which are used to implement the method according to any one of claims 1 to 7 when executed by a processor.

9. A computer program product comprising a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 7.

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