A method for optimizing torque distribution and related device

Abstract

The present application discloses a method for optimizing torque distribution and a related device, which relates to the field of automatic control, including: obtaining a basic distribution ratio, obtaining the maximum available torque of the front motor and the maximum available torque of the rear motor according to the basic distribution ratio, distributing the target request torque according to the basic distribution ratio, obtaining the basic torque of the front motor and the basic torque of the rear motor, and coordinating the basic torque of the other motor based on the maximum available torque of each motor and the basic torque of one of the motors to obtain the coordinated request torque. It can be seen that after distributing the torque based on the basic distribution ratio, the method also coordinates the basic torque of a single motor based on the maximum capacity of a single motor, the basic torque of another motor and the maximum capacity, and realizes dynamic adjustment of the distribution ratio by coordinating the basic torque of the dual motors, dynamically coordinates the request torque, and avoids torque limitation.

Description

Technical Field

[0001] The present application relates to the field of automatic control technology, and in particular to a method for optimizing torque distribution and related devices. Background Art

[0002] VCU (Vehicle Control Unit) is the core control component of electric vehicles. VCU distributes the driver's requested torque to the front and rear axles through the torque distribution ratio. When the current VCU distributes torque to the front / rear axles, it calculates the distribution ratio according to the energy consumption optimal distribution method or the dynamic formula distribution method, distributes the requested torque to the front / rear axles based on the distribution ratio to obtain the torque distribution result, and outputs the distribution result to the MCU (Microcontroller Unit) so that the MCU controls the motor operation based on the distribution result.

[0003] However, when torque is distributed based on a fixed distribution ratio, there is a situation where torque is limited, resulting in the inability to release the maximum capacity of the pure electric power system. Summary of the invention

[0004] In view of the above problems, the present application provides a method for optimizing torque distribution and a related device, and the specific scheme is as follows:

[0005] A first aspect of the present application provides a method for optimizing torque distribution, comprising:

[0006] Get the basic distribution ratio;

[0007] According to the basic distribution ratio, obtaining the maximum available torque of the front motor and the maximum available torque of the rear motor;

[0008] Allocating the target requested torque according to the basic allocation ratio to obtain a basic torque of the front motor and a basic torque of the rear motor;

[0009] Based on the maximum available torque of each electric machine and the base torque of one of the electric machines, the base torque of the other electric machine is coordinated to obtain the requested torque.

[0010] In a possible implementation, obtaining the maximum available torque of the front motor and the maximum available torque of the rear motor according to the basic distribution ratio includes:

[0011] Allocate the maximum available power of the battery according to the basic allocation ratio to obtain basic powers allocated by the battery to the front motor and the rear motor respectively;

[0012] Based on the maximum available power of each motor and the basic power of one of the motors, coordinate the basic power of another motor to obtain the target maximum available power;

[0013] The target maximum available power of each motor is converted into the maximum available torque of each motor to obtain the maximum available torque of the front motor and the maximum available torque of the rear motor.

[0014] In a possible implementation, based on the maximum available power of each motor and the basic power of one of the motors, the basic power of another motor is coordinated to obtain the target maximum available power, including:

[0015] Determine whether the basic power of each motor exceeds the corresponding maximum available power;

[0016] If the basic power of one motor does not exceed the maximum available power and the basic power of the other motor exceeds the maximum available power, the motor whose basic power does not exceed the maximum available power is used as the first power coordination motor and the other motor is used as the second power coordination motor;

[0017] transferring the remaining power of the basic power of the second power coordination motor exceeding the maximum available power to the basic power of the first power coordination motor to obtain the target maximum available power of the first power coordination motor;

[0018] The maximum available power of the second power coordination motor is used as the target maximum available power of the second power coordination motor.

[0019] In a possible implementation, allocating the target requested torque according to the basic allocation ratio to obtain the basic torque of the front motor and the basic torque of the rear motor includes:

[0020] receiving a torque request command, the torque request command including a real-time requested torque;

[0021] calculating a sum of the maximum available torque of the front motor and the maximum available torque of the rear motor as a maximum available total torque;

[0022] From the real-time request torque and the maximum available total torque, take the torque value with a smaller absolute value as the target request torque;

[0023] The target request torque is distributed according to the basic distribution ratio to obtain a basic torque of the front motor and a basic torque of the rear motor.

[0024] In a possible implementation, based on the maximum available torque of each motor and the basic torque of one of the motors, the basic torque of another motor is coordinated to obtain the requested torque, including:

[0025] Determine respectively whether the base torque of each motor exceeds the corresponding maximum available torque;

[0026] If the base torque of one motor does not exceed the maximum available torque and the base torque of the other motor exceeds the maximum available torque, the motor whose base torque does not exceed the maximum available torque is used as the first torque coordination motor and the other motor is used as the second torque coordination motor;

[0027] transferring a surplus torque of the base torque of the second torque coordination motor exceeding the maximum available torque to the base torque of the first torque coordination motor to obtain a request torque of the first torque coordination motor;

[0028] The maximum available torque of the second torque coordinating motor is used as the requested torque of the second torque coordinating motor.

[0029] In a possible implementation, based on the maximum available torque of each motor and the basic torque of one of the motors, the basic torque of another motor is coordinated to obtain the requested torque, further comprising:

[0030] If the base torques of the two motors do not exceed the corresponding maximum available torques, the base torques of the respective motors are used as the requested torques of the respective motors;

[0031] If the base torques of the two motors both exceed the corresponding maximum available torques, the maximum available torques of the respective motors are used as the requested torques of the respective motors.

[0032] In a possible implementation, the method for optimizing torque distribution further includes:

[0033] calculating a ratio of the requested torque of the front motor to the requested torque of the rear motor to obtain an optimized distribution ratio;

[0034] The basic allocation ratio is updated based on the optimized allocation ratio.

[0035] A second aspect of the present application provides a torque distribution optimization device, comprising:

[0036] A distribution ratio obtaining unit, used for obtaining a basic distribution ratio;

[0037] a first torque distribution unit, configured to obtain a maximum available torque of the front motor and a maximum available torque of the rear motor according to the basic distribution ratio;

[0038] a second torque distribution unit, configured to distribute the target request torque according to the basic distribution ratio to obtain a basic torque of the front motor and a basic torque of the rear motor;

[0039] The torque coordination unit is used for coordinating the basic torque of the other motor to obtain the requested torque based on the maximum available torque of each motor and the basic torque of one of the motors.

[0040] A third aspect of the present application provides a vehicle, wherein the vehicle is equipped with an electronic device, and the electronic device includes a memory and a processor;

[0041] The memory is used to store at least one instruction;

[0042] The processor is used to execute the at least one instruction to implement the torque distribution optimization method of the above-mentioned first aspect or any implementation manner of the first aspect.

[0043] A fourth aspect of the present application provides a computer program product, comprising computer-readable instructions, which, when executed on an electronic device, enables the electronic device to implement the method for optimizing torque distribution of the first aspect or any implementation of the first aspect.

[0044] A fifth aspect of the present application provides an electronic device, comprising at least one processor and a memory connected to the processor, wherein:

[0045] The memory is used to store computer programs;

[0046] The processor is used to execute the computer program so that the electronic device can implement the torque distribution optimization method of the above-mentioned first aspect or any implementation method of the first aspect.

[0047] A sixth aspect of the present application provides a computer storage medium, which carries one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement the method for optimizing torque distribution according to the first aspect or any implementation of the first aspect.

[0048] By means of the above technical scheme, the present application provides a method for optimizing torque distribution and related devices, including: obtaining a basic distribution ratio, obtaining the maximum available torque of the front motor and the maximum available torque of the rear motor according to the basic distribution ratio, distributing the target requested torque according to the basic distribution ratio, obtaining the basic torque of the front motor and the basic torque of the rear motor, and coordinating the basic torque of the other motor based on the maximum available torque of each motor and the basic torque of one of the motors to obtain the requested torque. It can be seen that after distributing the torque based on the basic distribution ratio, the method also coordinates the basic torque of a single motor based on the maximum capacity of a single motor and the basic torque and maximum capacity of another motor, and dynamically adjusts the distribution ratio by coordinating the basic torques of the two motors, dynamically coordinates the requested torque, and avoids torque limitation. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and the originals and elements are not necessarily drawn to scale.

[0050] Figure 1 A schematic flow chart of a method for optimizing torque distribution provided in an embodiment of the present application;

[0051] Figure 2 A specific implementation flow chart of a method for optimizing torque distribution provided in an embodiment of the present application;

[0052] Figure 3 A specific implementation flow chart of a method for optimizing torque distribution provided in an embodiment of the present application;

[0053] Figure 4 A specific implementation flow chart of a method for optimizing torque distribution provided in an embodiment of the present application;

[0054] Figure 5 A schematic diagram of the structure of a torque distribution optimization device provided in an embodiment of the present application;

[0055] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0056] The following describes the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. The terms used in the implementation method section of the present application are only used to explain the specific embodiments of the present application, and are not intended to limit the present application.

[0057] The embodiments of the present application are described below in conjunction with the accompanying drawings. Those skilled in the art will appreciate that, with the development of technology and the emergence of new scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0058] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and need not be used to describe a specific order or sequential order. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, which is only to describe the distinction mode adopted by the objects of the same attributes when describing in the embodiments of the present application. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, so that the process, method, system, product or equipment comprising a series of units need not be limited to those units, but may include other units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0059] The present application can be applied in the field of automatic control for new energy vehicles, and specifically in the torque distribution scenario of new energy vehicles to optimize the torque distribution.

[0060] When the current VCU distributes torque to the front / rear axle, it calculates the distribution ratio according to the energy consumption optimal distribution method or the dynamic formula distribution method, distributes the requested torque to the front / rear axle based on the distribution ratio to obtain the torque distribution result, and outputs the distribution result to the MCU so that the MCU controls the motor operation based on the distribution result, wherein the torque distribution result includes the front motor requested torque and the front motor requested torque. The distribution ratio is calculated under a fixed relationship among the vehicle speed, the front and rear motor speeds, the corresponding motor efficiency, and the requested total torque. However, parameter changes may occur during actual driving, such as the offset of the maximum capacity of the pure electric power system (e.g., the maximum available function and the maximum available torque) or the offset of the motor efficiency.

[0061] Specifically, a motor has a temperature rise due to some reason, resulting in a decrease in the motor's external characteristic torque. For another example, when the vehicle is actually driving, due to real-time factors such as the vehicle's center of gravity, tire wear, road conditions, and driving mode, the vehicle may slip. After the vehicle slips, the maximum power limit of the front and rear axles will change. After the parameters change, if the original distribution ratio is continued for torque distribution, the torque will be limited.

[0062] Next, taking vehicle skidding as an example, we will introduce a torque-limited scenario:

[0063] Based on the external characteristics of the motor, it can be seen that the maximum limit torque of the motor is the largest in the low speed area, and as the speed increases, the maximum limit torque gradually decreases. The maximum limit power of the motor increases with the increase of the speed in the low speed area, reaches the maximum value in the medium and high speed area, and then maintains it.

[0064] Assume that the current driver is driving at full throttle, that is, the requested torque is the maximum available torque of the pure electric power system, and assume that the current maximum available battery discharge power is 216kw, and the peak power of the motor is 150kw, that is, the battery available power is lower than the sum of the peak powers of the front and rear motors. If the front wheels of the vehicle slip slightly, the speed of the front motor is 2662rpm, and the rear wheels are normal, then the speed of the rear motor is 2407rpm. The driving efficiency of the motor varies according to the speed and torque, and the driving efficiency is positively correlated with the speed and torque, respectively. At this time, due to the different speeds of the front and rear motors, the driving efficiencies of the front and rear motors are different. For example, the driving efficiency of the front motor becomes 0.84, and the driving efficiency of the rear motor becomes 0.82.

[0065] In the above scenario, the methods for VCU to distribute torque in the prior art include A1 to A5:

[0066] A1. Based on the optimal energy consumption strategy, determine the allocation ratio, and determine the maximum available power that the battery can allocate to the motor according to the allocation ratio.

[0067] Taking a distribution ratio of 50% as an example, the maximum available power allocated by the battery to the front motor is 216kw×50%×0.84=90.72kw, and the maximum available power allocated to the rear motor is 216kw×50%×0.82=88.56kw.

[0068] It should be noted that the distribution ratio is used to characterize the ratio of power distributed to the front motor and the rear motor, and is also used to characterize the ratio of torque distributed to the front motor and the rear motor, that is, the distribution ratio is common in the torque distribution step and the power distribution step.

[0069] A2. Obtain the target maximum available power of the motor.

[0070] Specifically, if the maximum available torque of the motor itself is 340Nm, the maximum available power of the front motor itself is: 340Nm×2662rpm / 9550=94.77kw, and the maximum available power of the rear motor itself is: 340Nm×2407rpm / 9550=85.72kw.

[0071] According to the smaller principle, the target maximum available power of the front motor is 90.72kw, and the target maximum available power of the front motor is 85.72kw.

[0072] A3. Convert the target maximum available power into the maximum available torque.

[0073] Specifically, the maximum available torque of the front motor is: 90.72kw×9550 / 2662rpm=325.5Nm, and the maximum available torque of the rear motor is: 85.72kw×9550 / 2407rpm=340Nm.

[0074] Then, the maximum available total torque of the front and rear dual motors is 325.5+340=665.5Nm.

[0075] A4. Allocate the maximum total available torque of the front and rear dual motors according to the allocation ratio to determine the front motor request torque and the rear motor request torque.

[0076] Continuing with the above example, the front motor requested torque and the rear motor requested torque are both 665.5Nm×50%=332.75Nm.

[0077] A5. Taking the driving state as an example, in the driving state, the motor request torque and the motor maximum available torque are taken as the smaller one to obtain the coordinated motor request torque.

[0078] Specifically, in the driving state, the front motor requested torque is: min(325.5Nm, 332.75Nm) =325.5Nm, and the coordinated rear motor requested torque is: 332.75Nm=min(340Nm, 332.75Nm).

[0079] Then, the total torque requested by the front and rear motors is 658.25Nm=325.5Nm+332.75Nm.

[0080] In summary, the total torque requested by the front and rear motors is 658.25Nm, which is 7.21Nm smaller than the maximum available total torque of the front and rear dual motors is 665.46Nm. It can be seen that the torque requested by the front and rear motors is distributed according to the original distribution ratio, resulting in limited torque output.

[0081] It can be seen from the above-mentioned prior art that when a fixed distribution ratio is used for torque distribution, there is a technical problem of limited torque output.

[0082] In order to solve the above technical problems, an embodiment of the present application provides a method for optimizing torque distribution, which optimizes torque distribution by dynamically adjusting the distribution ratio, avoids torque output limitation, and improves motor working efficiency.

[0083] It should be noted that the torque distribution optimization method provided in the present application can be but is not limited to application in a vehicle control unit VCU configured in a new energy vehicle. The following is a detailed introduction to a torque distribution optimization method of an embodiment of the present application in conjunction with the accompanying drawings.

[0084] Figure 1 A schematic diagram of a process flow of a method for optimizing torque distribution provided by the present application is illustrated, such as Figure 1 As shown, this method specifically includes:

[0085] S101. Obtain a basic allocation ratio.

[0086] In this embodiment, the basic distribution ratio is the ratio of the requested torque distributed by the battery to the front motor and the requested torque distributed to the rear motor.

[0087] S102 . Obtain the maximum available torque of the front motor and the maximum available torque of the rear motor according to the basic distribution ratio.

[0088] In this embodiment, in the driving state, the maximum available torque is the maximum driving torque, and in the recovery state, the maximum available torque is the maximum recovery torque.

[0089] In this embodiment, the maximum available torque of the front motor and the maximum available torque of the rear motor are calculated according to the maximum capacity of the pure electric power system and the basic distribution ratio, wherein the maximum capacity includes the maximum available power of the battery and the maximum available power of each motor.

[0090] S103 . Allocate the target requested torque according to the basic allocation ratio to obtain a basic torque of the front motor and a basic torque of the rear motor.

[0091] In this embodiment, the target requested torque is the requested torque to be distributed.

[0092] In this embodiment, the requested torque to be distributed may be the real-time requested torque indicated by the torque distribution request, or the requested torque to be distributed may be a torque value with a smaller absolute value between the real-time requested torque and the maximum available total torque.

[0093] It should be noted that the real-time requested torque is determined based on actual driving conditions. For example, the real-time requested torque includes one of the driver requested torque, creep torque, automatic parking requested torque, and intelligent driving requested torque.

[0094] S104 : Based on the maximum available torque of each motor and the basic torque of one of the motors, coordinate the basic torque of another motor to obtain the requested torque.

[0095] In this embodiment, the maximum available torque of each motor represents the maximum capacity of each motor calculated according to the maximum capacity of the battery and the basic distribution ratio.

[0096] Optionally, if the rear motor is the motor to be coordinated, based on the maximum available torque of each motor and the basic torque of the front motor, the basic torque of the rear motor is coordinated to obtain the requested torque of the rear motor; or, if the front motor is the motor to be coordinated, based on the maximum available torque of each motor and the basic torque of the rear motor, the basic torque of the front motor is coordinated to obtain the requested torque of the front motor.

[0097] It can be seen from the above technical solution that the present application provides a method for optimizing torque distribution, which obtains the maximum available torque of the front motor and the maximum available torque of the rear motor according to the basic distribution ratio, distributes the target request torque according to the basic distribution ratio, obtains the basic torque of the front motor and the basic torque of the rear motor, and coordinates the basic torque of the other motor based on the maximum available torque of each motor and the basic torque of one of the motors to obtain the requested torque. It can be seen that after distributing the torque based on the basic distribution ratio, the method also coordinates the basic torque of a single motor based on the maximum capacity of a single motor, the basic torque and the maximum capacity of another motor, and dynamically adjusts the distribution ratio by coordinating the basic torques of the two motors to achieve dynamic distribution of the requested torque.

[0098] Figure 2 A specific implementation process of a torque distribution optimization method provided in an embodiment of the present application is as follows: Figure 2 As shown, this method specifically includes:

[0099] S201. Obtain a basic allocation ratio.

[0100] In this embodiment, the distribution ratio determined according to the energy consumption optimization method or the vehicle stability control method can be used as the basic distribution ratio. The distribution ratio refers to the ratio of the requested torque distributed by the battery to the front motor and the rear motor, that is, the front motor requested torque / the rear motor requested torque.

[0101] S202 , allocating the maximum available power of the battery according to the basic allocation ratio, and obtaining the basic power allocated by the battery to the front motor and the rear motor respectively.

[0102] In this embodiment, the basic distribution ratio is applied to the torque distribution and power distribution of the front and rear motors, that is, the basic distribution ratios of the torque distribution and the power distribution are consistent.

[0103] S203 : Based on the maximum available power of each motor and the basic power of one of the motors, coordinate the basic power of another motor to obtain the target maximum available power.

[0104] In this embodiment, the maximum available power represents the current maximum capacity of the motor, and the basic power represents the power allocated based on the basic allocation ratio. This step coordinates the basic power within the current maximum capacity of each motor.

[0105] In an optional embodiment, the method for coordinating basic power includes B1 to B5:

[0106] B1. Determine whether the basic power of each motor exceeds the corresponding maximum available power.

[0107] B2. If the basic power of one motor does not exceed the maximum available power and the basic power of the other motor exceeds the maximum available power, the motor whose basic power does not exceed the maximum available power is used as the first power coordination motor, and the other motor is used as the second power coordination motor.

[0108] B3, transferring the remaining power of the basic power of the second power coordination motor exceeding the maximum available power to the basic power of the first power coordination motor, to obtain the target maximum available power of the first power coordination motor. The maximum available power of the second power coordination motor is used as the target maximum available power of the second power coordination motor.

[0109] In this embodiment, the remaining power when the basic power of the second power coordination motor exceeds the maximum available power is a power difference value obtained by subtracting the maximum available power from the basic power.

[0110] In this embodiment, the specific method of transferring the remaining power of the basic power of the second power coordination motor exceeding the maximum available power to the basic power of the first power coordination motor is:

[0111] The product of the residual power and the efficiency ratio is calculated, wherein the efficiency ratio is the ratio of the efficiency of the first power coordinated motor to the efficiency of the second power coordinated motor, and the sum of the product and the basic power of the first power coordinated motor is calculated as the target maximum available power of the first power coordinated motor.

[0112] B4. If the basic power of each motor does not exceed the maximum available power, the basic power of each motor is used as the target maximum available power.

[0113] B5. If the base power of each motor exceeds the maximum available power, the maximum available power of each motor is used as the target maximum available power.

[0114] S204 , converting the target maximum available power of each motor into the maximum available torque of each motor to obtain the maximum available torque of the front motor and the maximum available torque of the rear motor.

[0115] In this embodiment, the maximum available torque includes the maximum driving torque and the maximum recovery torque.

[0116] Specifically, the target maximum available power of the front motor is converted into the maximum available torque of the front motor, and the target maximum available power of the rear motor is converted into the maximum available torque of the rear motor. For specific torque conversion methods, refer to the prior art.

[0117] It can be understood that S202~S204 is an optional specific method for calculating the maximum available torque of the front motor and the maximum available torque of the rear motor based on the basic allocation ratio. When the basic power allocated by the battery to a single motor exceeds the maximum available power of the motor, the method transfers the excess power to the basic power of another motor, thereby obtaining the target maximum available power of each motor, and comprehensively coordinating the maximum capabilities of the battery and the motor to achieve power transfer without exceeding the maximum capabilities to avoid power loss, thereby obtaining accurate and effective maximum available torque of each motor.

[0118] S205 . After receiving the torque request instruction, calculate the sum of the maximum available torque of the front motor and the maximum available torque of the rear motor as the maximum available total torque.

[0119] In this embodiment, the torque request command includes an immediate requested torque.

[0120] In this embodiment, in the driving state, the maximum available total torque is the maximum total driving torque, and in the recovery state, the maximum available total torque is the maximum total recovery torque, wherein the maximum total driving torque is equal to the sum of the maximum driving torque of the front motor and the maximum driving torque of the rear motor, and the maximum total recovery torque is equal to the sum of the maximum recovery torque of the front motor and the maximum recovery torque of the rear motor. It should be noted that the maximum available torque includes the maximum driving torque and the maximum recovery torque, wherein the maximum driving torque is a positive value and the maximum recovery torque is a negative value.

[0121] S206 : From the real-time requested torque and the maximum available total torque, take the torque value with the smaller absolute value as the target requested torque.

[0122] In this embodiment, if the absolute value of the real-time request torque is not greater than the absolute value of the maximum available total torque, the real-time request torque is used as the target request torque; if the absolute value of the real-time request torque is greater than the absolute value of the maximum available total torque, the maximum available total torque is used as the target request torque.

[0123] S207 . Allocate the target requested torque according to the basic allocation ratio to obtain a basic torque of the front motor and a basic torque of the rear motor.

[0124] S208 : Based on the maximum available torque of each motor and the basic torque of one of the motors, coordinate the basic torque of another motor to obtain the requested torque.

[0125] In this embodiment, the maximum available torque of the motor is used to characterize the current maximum capacity, and the basic power characterizes the torque allocated based on the basic allocation ratio. This step coordinates the basic torque within the current maximum capacity of each motor.

[0126] In an optional embodiment, the method of coordinating the basic torque includes C1 to C4:

[0127] C1. Determine whether the basic torque of each motor exceeds the corresponding maximum available torque.

[0128] C2. If the basic torque of one motor does not exceed the maximum available torque and the basic torque of the other motor exceeds the maximum available torque, the motor whose basic torque does not exceed the maximum available torque is used as the first torque coordination motor, and the other motor is used as the second torque coordination motor.

[0129] In this embodiment, if the absolute value of the basic torque of the motor is not greater than the absolute value of the maximum available torque, it means that the basic torque of the motor does not exceed the maximum available torque, that is, the basic torque of the motor does not reach the maximum capacity.

[0130] C3. Transferring the remaining torque of the base torque of the second torque coordination motor exceeding the maximum available torque to the base torque of the first torque coordination motor to obtain the requested torque of the first torque coordination motor, and taking the maximum available torque of the second torque coordination motor as the requested torque of the second torque coordination motor.

[0131] In this embodiment, the method of transferring the residual torque of the base torque of the second torque coordination motor exceeding the maximum available torque to the base torque of the first torque coordination motor is: calculating the sum of the base torque of the first torque coordination motor and the residual torque as the requested torque of the first torque coordination motor. The residual torque is the torque difference between the base torque of the second torque coordination motor and the maximum available torque.

[0132] In this embodiment, the base torque of the second torque coordination motor exceeds the maximum available torque, indicating that the base torque is greater than the maximum capacity. The maximum available torque is then used as the requested torque to avoid exceeding the requested torque limit.

[0133] It should be noted that, in the driving state, the torque value is a positive value and the residual torque is a positive value, and in the recovery state, the torque value is a negative value and the residual torque is a positive value.

[0134] C4. If the basic torques of the two motors do not exceed the corresponding maximum available torques, the basic torques of the motors are used as the requested torques of the motors.

[0135] In this step, when the basic torque exceeds the maximum available torque of the motor, the excess torque is transferred to the basic torque of another motor, thereby obtaining the requested torque of each motor, and comprehensively coordinating the maximum capacity and distribution ratio of the motor to achieve torque transfer of the remaining torque without exceeding the maximum capacity, thereby obtaining the accurate and effective maximum available torque of each motor and avoiding torque limitation.

[0136] It should be noted that, in this embodiment, since the target requested torque is obtained by adjusting the real-time requested torque based on the maximum torque, when the basic torque of one motor exceeds the maximum available torque, the basic torque of the other motor will definitely not exceed the maximum available torque.

[0137] S209 : Calculate the ratio of the requested torque of the front motor to the requested torque of the rear motor to obtain an optimized distribution ratio.

[0138] S210. Update the basic allocation ratio based on the optimized allocation ratio.

[0139] It can be seen from the above technical scheme that an optimization method for torque distribution provided by an embodiment of the present application is based on the maximum available power of each motor and the basic power of one of the motors, coordinates the basic power of another motor to obtain the target maximum available power, and comprehensively coordinates the maximum capabilities of the battery and the motor to achieve the target maximum available power without exceeding the maximum capabilities. Power transfer is achieved to avoid power loss, thereby accurately and effectively obtaining the maximum available torque of each motor. Furthermore, based on the maximum available torque of each motor and the basic torque of one of the motors, the basic torque of another motor is coordinated to obtain the requested torque, and the maximum capabilities and distribution ratios of the motors are comprehensively coordinated to achieve the torque transfer of the remaining torque without exceeding the maximum capabilities, thereby accurately and effectively obtaining the maximum available torque of each motor and avoiding torque limitation.

[0140] It can be seen that this method optimizes the torque distribution method through power coordination and torque coordination, on the one hand to avoid exceeding the maximum capacity of the motor, on the other hand to avoid torque limitation caused by inaccurate basic distribution ratio distribution results caused by dynamic changes in driving parameters, thereby releasing the maximum capacity of the pure electric power system and improving motor efficiency.

[0141] Still taking the above torque-limited scenario as an example, the process of implementing torque distribution by the torque distribution optimization method provided by the basic application embodiment includes D1 to D5:

[0142] D1. According to the basic allocation ratio, obtain the maximum available power allocated by the battery to each motor, that is, the basic power of each motor.

[0143] Taking the distribution ratio of 50% as an example, the maximum available power allocated by the battery to the front motor is 216kw×50%×0.84=90.72kw, and the maximum available power allocated to the rear motor is 216kw×50%×0.82=88.56kw.

[0144] D2. Obtain the target maximum available power of each motor.

[0145] Specifically, if the maximum available torque of the motor itself is 340Nm, the maximum available power of the front motor itself is: 340Nm×2662rpm / 9550=94.77kw. The maximum available power of the rear motor is: 340Nm×2407rpm / 9550=85.72kw.

[0146] It can be seen that the basic power of the front motor is less than the maximum available power of the front motor itself, and the basic power of the rear motor is greater than the maximum available power of the rear motor itself.

[0147] According to B1~B3, the basic power of each motor is coordinated to obtain the target maximum available power of each motor. After coordination, the maximum available power of the front motor is 90.72+(88.56-85.72) / 0.82×0.84=93.63kw. After VCU coordination, the maximum available power of the rear motor is 85.72kw.

[0148] D3. Convert the target maximum available power into the maximum available torque.

[0149] Specifically, the maximum available torque of the front motor is: 93.63kw×9550 / 2662rpm=335.9Nm, and the maximum available torque of the rear motor is: 85.72kw×9550 / 2407rpm=340Nm.

[0150] Then, the maximum available total torque of the front and rear dual motors is 335.9+340=675.9Nm.

[0151] D4. Allocate the maximum total available torque of the front and rear dual motors according to the basic distribution ratio to determine the basic torque of the front motor and the basic torque of the rear motor.

[0152] Continuing with the above example, the base torque of the front and rear motors is 675.9Nm×50%=337.95Nm.

[0153] D5. In the driving state, coordinate the basic torque of the front motor and the rear motor according to S208:

[0154] The base torque of the front motor of 337.95 Nm exceeds the maximum available torque of 335.9 Nm, the maximum available torque of 335.9 Nm is taken as the requested torque, and the remaining torque is calculated as 337.95-335.9=2.01 Nm.

[0155] The base torque of the rear motor, 337.95 Nm, is less than the maximum available torque of 340 Nm. The sum of the base torque and the remaining torque of the rear motor is calculated as the requested torque, that is, 337.95+2.01=340 Nm.

[0156] After coordination, the maximum available total torque of the front and rear dual motors is equal to the sum of the requested torques of the front and rear dual motors, that is, 340Nm+335.9Nm=675.9 Nm.

[0157] It should be noted that under different vehicle power system states, the specific implementation method of the present application is different. In the driving state, the maximum available total torque is the maximum total driving torque, the maximum available torque is the maximum driving torque, the basic torque is the basic driving torque, the requested torque is the requested driving torque, and the optimized distribution ratio is the first optimized distribution ratio. Correspondingly, in the recovery state, the maximum available total torque is the maximum total recovery torque, the maximum available torque is the maximum recovery torque, the basic torque is the basic recovery torque, the requested torque is the requested recovery torque, and the optimized distribution ratio is the second optimized distribution ratio. Next, taking the vehicle power system state as the driving state or the recovery state as an example, the specific implementation processes of the optimization method of torque distribution in the driving state and the optimization method of torque distribution in the recovery state are respectively explained.

[0158] See also Figure 3 , Figure 3 A schematic diagram of a flow chart of a method for optimizing torque distribution provided in an embodiment of the present application is shown in FIG. Figure 3 As shown, the method includes:

[0159] S301 : Calculate the maximum driving torque of the front motor, the maximum driving torque of the rear motor, and the maximum total driving torque according to the basic distribution ratio.

[0160] The specific calculation method is shown in the above embodiment, and will not be described in detail in this embodiment.

[0161] S302: After receiving the torque request instruction, determine whether a preset driving state judgment condition is met. If so, determine that the current vehicle power system state is a driving state.

[0162] In this embodiment, the vehicle power system state includes a driving state and a recovery state.

[0163] It should be noted that the recovery state is also called the energy recovery state, which is the process in which the vehicle converts braking energy into electrical energy and stores it through a specific mechanism during deceleration or braking. The driving state refers to the state in which the power system provides power to the vehicle to overcome driving resistance during normal driving. For specific methods for determining the state of the vehicle's power system, please refer to the prior art.

[0164] It should be noted that the method for determining the driving state determination condition can refer to the prior art.

[0165] S303: Take the smaller of the real-time requested torque and the maximum total driving torque to obtain the target requested driving torque.

[0166] In this embodiment, the real-time requested torque is determined based on the actual driving condition. For example, the real-time requested torque includes one of the driver requested torque, creep torque, automatic parking requested torque, and intelligent driving requested torque.

[0167] In this embodiment, there are multiple methods for obtaining the maximum total driving torque, and the details may refer to the above embodiments or prior art.

[0168] S304 , allocating the target requested driving torque according to the basic allocation ratio to obtain a basic driving torque of the front motor and a basic driving torque of the rear motor.

[0169] S305: If the basic driving torque of the front motor is not greater than the maximum driving torque of the front motor and the basic driving torque of the rear motor is not greater than the maximum driving torque of the rear motor, the basic driving torque of the front motor is used as the requested driving torque of the front motor and the basic driving torque of the rear motor is used as the requested driving torque of the rear motor.

[0170] S306: If the basic driving torque of the front motor is not greater than the maximum driving torque of the front motor, and the basic driving torque of the rear motor is greater than the maximum driving torque of the rear motor, the sum of the basic driving torque of the front motor and the first difference is used as the requested driving torque of the front motor, and the maximum driving torque of the rear motor is used as the requested driving torque of the rear motor.

[0171] In this embodiment, the first difference is the result of subtracting the maximum driving torque of the rear motor from the basic driving torque of the rear motor.

[0172] S307: If the basic driving torque of the front motor is greater than the maximum driving torque of the front motor, and the basic driving torque of the rear motor is not greater than the maximum driving torque of the rear motor, the maximum driving torque of the front motor is used as the requested driving torque of the front motor, and the sum of the basic driving torque of the rear motor and the second difference is used as the requested driving torque of the rear motor.

[0173] In this embodiment, the second difference is the result of subtracting the maximum driving torque of the front motor from the basic driving torque of the front motor.

[0174] S308: If the basic driving torque of the front motor is greater than the maximum driving torque of the front motor, and the basic driving torque of the rear motor is greater than the maximum driving torque of the rear motor, the maximum driving torque of the front motor is used as the requested driving torque of the front motor, and the maximum driving torque of the rear motor is used as the requested driving torque of the rear motor.

[0175] S309 : Calculate the ratio of the requested driving torque of the front motor to the requested driving torque of the rear motor to obtain a first optimized distribution ratio.

[0176] S310: Use the first optimized allocation ratio to update the basic allocation ratio.

[0177] It can be seen from the above technical solution that the torque distribution optimization method provided in the embodiment of the present application, under the driving state, dynamically adjusts the basic distribution ratio to ensure that the requested torque of the front and rear motors is not subject to torque limitation due to the distribution ratio, thereby being able to release the maximum capacity of the pure electric power system.

[0178] See also Figure 4 , Figure 4 A schematic diagram of a flow chart of a method for optimizing torque distribution provided in an embodiment of the present application is shown in FIG. Figure 3 As shown, the method includes:

[0179] S401. Calculate the maximum regenerative torque of the front motor, the maximum regenerative torque of the rear motor, and the maximum total regenerative torque according to the basic distribution ratio.

[0180] The specific calculation method is shown in the above embodiment, and will not be described in detail in this embodiment.

[0181] S402: After receiving the torque request instruction, determine whether a preset recovery state judgment condition is met, and if so, determine that the current vehicle power system state is a recovery state.

[0182] S403 . Take the larger of the real-time requested torque and the maximum total recovery torque to obtain the target requested recovery torque.

[0183] In this embodiment, there are multiple methods for obtaining the maximum total recovery torque, and the details can be referred to the above embodiments or prior art.

[0184] S404 , allocating the target requested recovery torque according to the basic allocation ratio to obtain a basic recovery torque of the front motor and a basic recovery torque of the rear motor.

[0185] S405: If the basic recovery torque of the front motor is not less than the maximum recovery torque of the front motor, and the basic recovery torque of the rear motor is not less than the maximum recovery torque of the rear motor, the basic recovery torque of the front motor is used as the requested recovery torque of the front motor, and the basic recovery torque of the rear motor is used as the requested recovery torque of the rear motor.

[0186] S406: If the basic recovery torque of the front motor is not less than the maximum recovery torque of the front motor, and the basic recovery torque of the rear motor is less than the maximum recovery torque of the rear motor, the sum of the basic recovery torque of the front motor and the third difference is used as the requested recovery torque of the front motor, and the maximum recovery torque of the rear motor is used as the requested recovery torque of the rear motor.

[0187] In this embodiment, the third difference is the result of subtracting the maximum recovery torque of the rear motor from the basic recovery torque of the rear motor.

[0188] S407: If the basic recovery torque of the front motor is less than the maximum recovery torque of the front motor, and the basic recovery torque of the rear motor is not less than the maximum recovery torque of the rear motor, the maximum recovery torque of the front motor is used as the requested recovery torque of the front motor, and the sum of the basic recovery torque of the rear motor and the fourth difference is used as the requested recovery torque of the rear motor.

[0189] In this embodiment, the fourth difference is the result of subtracting the maximum recovery torque of the front motor from the basic recovery torque of the front motor.

[0190] S408: If the basic recovery torque of the front motor is less than the maximum recovery torque of the front motor, and the basic recovery torque of the rear motor is less than the maximum recovery torque of the rear motor, the maximum recovery torque of the front motor is used as the requested recovery torque of the front motor, and the maximum recovery torque of the rear motor is used as the requested recovery torque of the rear motor.

[0191] S409 : Calculate the ratio of the requested recovery torque of the front motor to the requested recovery torque of the rear motor to obtain a second optimized allocation ratio.

[0192] S410: Use the second optimized allocation ratio to update the basic allocation ratio.

[0193] It can be seen from the above technical solution that the torque distribution optimization method provided in the embodiment of the present application, after dynamically adjusting the basic distribution ratio in the recovery state, ensures that the requested torque of the front and rear motors is not subject to torque limitation due to the distribution ratio, thereby being able to release the maximum capacity of the pure electric power system.

[0194] A method for optimizing torque distribution provided in an embodiment of the present application is introduced above, and a device for executing the above method for optimizing torque distribution will be introduced below.

[0195] See also Figure 5 , Figure 5 This is a schematic diagram of the structure of a torque distribution optimization device provided in an embodiment of the present application. Figure 5 As shown, the torque distribution optimization device 500 comprises:

[0196] The allocation ratio acquisition unit 501 is used to acquire the basic allocation ratio;

[0197] A first torque distribution unit 502, configured to obtain a maximum available torque of the front motor and a maximum available torque of the rear motor according to the basic distribution ratio;

[0198] A second torque distribution unit 503 is used to distribute the target request torque according to the basic distribution ratio to obtain a basic torque of the front motor and a basic torque of the rear motor;

[0199] The torque coordination unit 504 is configured to coordinate the basic torque of the other motor to obtain the requested torque based on the maximum available torque of each motor and the basic torque of one of the motors.

[0200] In a possible implementation, when the first torque distribution unit is used to obtain the maximum available torque of the front motor and the maximum available torque of the rear motor according to the basic distribution ratio, it is specifically used to:

[0201] Allocate the maximum available power of the battery according to the basic allocation ratio to obtain basic powers allocated by the battery to the front motor and the rear motor respectively;

[0202] Based on the maximum available power of each motor and the basic power of one of the motors, coordinate the basic power of another motor to obtain the target maximum available power;

[0203] The target maximum available power of each motor is converted into the maximum available torque of each motor to obtain the maximum available torque of the front motor and the maximum available torque of the rear motor.

[0204] In a possible implementation, the first torque distribution unit is used to coordinate the basic power of another motor to obtain the target maximum available power based on the maximum available power of each motor and the basic power of one of the motors, and is specifically used to:

[0205] Determine whether the basic power of each motor exceeds the corresponding maximum available power;

[0206] If the basic power of one motor does not exceed the maximum available power and the basic power of the other motor exceeds the maximum available power, the motor whose basic power does not exceed the maximum available power is used as the first power coordination motor and the other motor is used as the second power coordination motor;

[0207] transferring the remaining power of the basic power of the second power coordination motor exceeding the maximum available power to the basic power of the first power coordination motor to obtain the target maximum available power of the first power coordination motor;

[0208] The maximum available power of the second power coordination motor is used as the target maximum available power of the second power coordination motor.

[0209] In a possible implementation, the second torque distribution unit is used to distribute the target request torque according to the basic distribution ratio to obtain the basic torque of the front motor and the basic torque of the rear motor, specifically to:

[0210] receiving a torque request command, the torque request command including a real-time requested torque;

[0211] calculating a sum of the maximum available torque of the front motor and the maximum available torque of the rear motor as a maximum available total torque;

[0212] From the real-time request torque and the maximum available total torque, take the torque value with a smaller absolute value as the target request torque;

[0213] The target request torque is distributed according to the basic distribution ratio to obtain a basic torque of the front motor and a basic torque of the rear motor.

[0214] In a possible implementation, the torque coordination unit is used to coordinate the basic torque of another motor to obtain the requested torque based on the maximum available torque of each motor and the basic torque of one of the motors, and to determine whether the basic torque of each motor exceeds the corresponding maximum available torque. Specifically, it is used to:

[0215] If the base torque of one motor does not exceed the maximum available torque and the base torque of the other motor exceeds the maximum available torque, the motor whose base torque does not exceed the maximum available torque is used as the first torque coordination motor and the other motor is used as the second torque coordination motor;

[0216] transferring a surplus torque of the base torque of the second torque coordination motor exceeding the maximum available torque to the base torque of the first torque coordination motor to obtain a request torque of the first torque coordination motor;

[0217] The maximum available torque of the second torque coordinating motor is used as the requested torque of the second torque coordinating motor.

[0218] In a possible implementation, the torque coordination unit is used to coordinate the basic torque of another motor to obtain the requested torque based on the maximum available torque of each motor and the basic torque of one of the motors, and is also used to:

[0219] If the base torques of the two motors do not exceed the corresponding maximum available torques, the base torques of the respective motors are used as the requested torques of the respective motors;

[0220] If the base torques of the two motors both exceed the corresponding maximum available torques, the maximum available torques of the respective motors are used as the requested torques of the respective motors.

[0221] In a possible implementation, the torque distribution optimization device further includes a distribution ratio recording unit, which is used to:

[0222] calculating a ratio of the requested torque of the front motor to the requested torque of the rear motor to obtain an optimized distribution ratio;

[0223] The basic allocation ratio is updated based on the optimized allocation ratio.

[0224] The present application also provides a vehicle, which is equipped with an electronic device, the electronic device including a memory and a processor, the memory is used to store at least one instruction, and the processor is used to execute the at least one instruction to implement the torque distribution optimization method of the first aspect or any implementation of the first aspect. Figure 6 As shown, it shows a schematic diagram of the structure of an electronic device suitable for implementing the embodiment of the present application. The electronic device in the embodiment of the present application may include but is not limited to fixed terminals such as mobile phones, laptops, PDAs (personal digital assistants), PADs (tablet computers), desktop computers, etc. Figure 6 The electronic device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0225] like Figure 6 As shown, the electronic device may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 601, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 602 or a program loaded from a storage device 608 to a random access memory (RAM) 603. When the electronic device is powered on, various programs and data required for the operation of the electronic device are also stored in the RAM 603. The processing device 601, the ROM 602, and the RAM 603 are connected to each other via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0226] Typically, the following devices may be connected to the I / O interface 605: an input device 606 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 607 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 608 including, for example, a memory card, a hard disk, etc.; and a communication device 609. The communication device 609 may allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. Although Figure 6 An electronic device having various devices is shown, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead.

[0227] Also provided in an embodiment of the present application is a computer program product including computer-readable instructions. When the computer-readable instructions are executed on an electronic device, the electronic device implements any one of the torque distribution optimization methods provided in the embodiments of the present application.

[0228] A computer-readable storage medium is also provided in an embodiment of the present application. The storage medium carries one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement any torque distribution optimization method provided in the embodiment of the present application.

[0229] It should also be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed over multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the drawings of the device embodiments provided by the present application, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines.

[0230] Through the description of the above implementation mode, the technicians in the field can clearly understand that the present application can be implemented by means of software plus necessary general hardware, and of course, it can also be implemented by special hardware including special integrated circuits, special CPUs, special memories, special components, etc. In general, all functions completed by computer programs can be easily implemented by corresponding hardware, and the specific hardware structure used to implement the same function can also be various, such as analog circuits, digital circuits or special circuits. However, for the present application, software program implementation is a better implementation mode in more cases. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a readable storage medium, such as a computer floppy disk, a U disk, a mobile hard disk, a ROM, a RAM, a magnetic disk or an optical disk, etc., including a number of instructions to enable a computer device (which can be a personal computer, a training device, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0231] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments may be implemented in the form of a computer program product.

[0232] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, a computer, a training device, or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, training device, or data center. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a training device, a data center, etc. that includes one or more available media integrations. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)), etc.

Claims

1. A method for optimizing torque distribution, characterized in that: include: Get the basic distribution ratio; According to the basic distribution ratio, obtaining the maximum available torque of the front motor and the maximum available torque of the rear motor; Allocating the target requested torque according to the basic allocation ratio to obtain a basic torque of the front motor and a basic torque of the rear motor; Based on the maximum available torque of each motor and the basic torque of one of the motors, coordinate the basic torque of the other motor to obtain the requested torque; The obtaining, according to the basic distribution ratio, the maximum available torque of the front motor and the maximum available torque of the rear motor comprises: Allocate the maximum available power of the battery according to the basic allocation ratio to obtain basic powers allocated by the battery to the front motor and the rear motor respectively; Based on the maximum available power of each motor and the basic power of one of the motors, coordinate the basic power of another motor to obtain the target maximum available power; Converting the target maximum available power of each motor into the maximum available torque of each motor to obtain the maximum available torque of the front motor and the maximum available torque of the rear motor; The method of obtaining the target maximum available power by coordinating the basic power of another motor based on the maximum available power of each motor and the basic power of one of the motors includes: Determine whether the basic power of each motor exceeds the corresponding maximum available power; If the basic power of one motor does not exceed the maximum available power and the basic power of the other motor exceeds the maximum available power, the motor whose basic power does not exceed the maximum available power is used as the first power coordination motor and the other motor is used as the second power coordination motor; transferring the remaining power of the basic power of the second power coordination motor exceeding the maximum available power to the basic power of the first power coordination motor to obtain the target maximum available power of the first power coordination motor; The maximum available power of the second power coordination motor is used as the target maximum available power of the second power coordination motor.

2. The method for optimizing torque distribution according to claim 1, characterized in that: The allocating the target requested torque according to the basic allocation ratio to obtain the basic torque of the front motor and the basic torque of the rear motor includes: receiving a torque request command, the torque request command including a real-time requested torque; calculating a sum of the maximum available torque of the front motor and the maximum available torque of the rear motor as a maximum available total torque; From the real-time request torque and the maximum available total torque, take the torque value with a smaller absolute value as the target request torque; The target request torque is distributed according to the basic distribution ratio to obtain a basic torque of the front motor and a basic torque of the rear motor.

3. The method for optimizing torque distribution according to claim 1, characterized in that: The step of obtaining the requested torque by coordinating the basic torque of another motor based on the maximum available torque of each motor and the basic torque of one of the motors comprises: Determine respectively whether the base torque of each motor exceeds the corresponding maximum available torque; If the base torque of one motor does not exceed the maximum available torque and the base torque of the other motor exceeds the maximum available torque, the motor whose base torque does not exceed the maximum available torque is used as the first torque coordination motor and the other motor is used as the second torque coordination motor; transferring a surplus torque of the base torque of the second torque coordination motor exceeding the maximum available torque to the base torque of the first torque coordination motor to obtain a request torque of the first torque coordination motor; The maximum available torque of the second torque coordinating motor is used as the requested torque of the second torque coordinating motor.

4. The method for optimizing torque distribution according to claim 3, characterized in that: The step of obtaining the requested torque by coordinating the basic torque of another motor based on the maximum available torque of each motor and the basic torque of one of the motors further includes: If the base torques of the two motors do not exceed the corresponding maximum available torques, the base torques of the respective motors are used as the requested torques of the respective motors; If the base torques of the two motors both exceed the corresponding maximum available torques, the maximum available torques of the respective motors are used as the requested torques of the respective motors.

5. The method for optimizing torque distribution according to claim 1, characterized in that: The method for optimizing torque distribution further includes: calculating a ratio of the requested torque of the front motor to the requested torque of the rear motor to obtain an optimized distribution ratio; The basic allocation ratio is updated based on the optimized allocation ratio.

6. A torque distribution optimization device, characterized in that: include: A distribution ratio obtaining unit, used for obtaining a basic distribution ratio; a first torque distribution unit, configured to obtain a maximum available torque of the front motor and a maximum available torque of the rear motor according to the basic distribution ratio; a second torque distribution unit, configured to distribute the target request torque according to the basic distribution ratio to obtain a basic torque of the front motor and a basic torque of the rear motor; a torque coordination unit, configured to coordinate a basic torque of another motor to obtain a requested torque based on a maximum available torque of each motor and a basic torque of one of the motors; When the first torque distribution unit is used to obtain the maximum available torque of the front motor and the maximum available torque of the rear motor according to the basic distribution ratio, it is specifically used to: Allocate the maximum available power of the battery according to the basic allocation ratio to obtain basic powers allocated by the battery to the front motor and the rear motor respectively; Based on the maximum available power of each motor and the basic power of one of the motors, coordinate the basic power of another motor to obtain the target maximum available power; Converting the target maximum available power of each motor into the maximum available torque of each motor to obtain the maximum available torque of the front motor and the maximum available torque of the rear motor; The method of obtaining the target maximum available power by coordinating the basic power of another motor based on the maximum available power of each motor and the basic power of one of the motors includes: Determine whether the basic power of each motor exceeds the corresponding maximum available power; If the basic power of one motor does not exceed the maximum available power and the basic power of the other motor exceeds the maximum available power, the motor whose basic power does not exceed the maximum available power is used as the first power coordination motor and the other motor is used as the second power coordination motor; transferring the remaining power of the basic power of the second power coordination motor exceeding the maximum available power to the basic power of the first power coordination motor to obtain the target maximum available power of the first power coordination motor; The maximum available power of the second power coordination motor is used as the target maximum available power of the second power coordination motor.

7. A vehicle, characterized in that: The vehicle is equipped with an electronic device, the electronic device comprising a memory and a processor; The memory is used to store at least one instruction; The processor is configured to execute the at least one instruction to implement the torque distribution optimization method according to any one of claims 1 to 5.

8. A computer program product, characterized in that The method comprises computer-readable instructions, which, when executed on an electronic device, enable the electronic device to implement the method for optimizing torque distribution as claimed in any one of claims 1 to 5.

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