Torque control method, vehicle and computer readable storage medium

Abstract

The invention provides a torque control method, a vehicle and a computer readable storage medium. The torque control method comprises the steps that whether the vehicle is in a ramp running condition or not is judged; if yes, obtaining a target torque adjustment coefficient of each wheel of the vehicle and the maximum available torque of each wheel; obtaining a target output torque corresponding to each wheel according to the maximum available torque of each wheel and the target torque adjustment coefficient of each wheel; and distributing torque to the corresponding wheels according to the target output torque of each wheel. According to the method, the slip rate of each wheel of the vehicle is changed within an acceptable range, accurate control over the slip rate of each wheel of the vehicle is achieved, the problem that the stability of vehicle operation is affected due to large fluctuation of the slip rate is solved, the vehicle operation stability is enhanced, each wheel is kept at the target output torque, and the service life of the vehicle is prolonged. Therefore, vehicle kinetic energy waste is effectively reduced, and the endurance mileage of the vehicle is increased.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a torque control method, a vehicle and a computer-readable storage medium. Background Art

[0002] When the vehicle is moving, the motor needs to output torque to the wheels at all times to ensure that the vehicle can respond normally to the driver's actions. However, due to different driving conditions of the vehicle and different driving habits of the driver, when the vehicle outputs torque, it always wastes torque kinetic energy and consumes the vehicle's own energy, resulting in a significant reduction in the vehicle's cruising range. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0004] To this end, an object of the present invention is to propose a torque control method, which allows the slip rate of each wheel of the vehicle to vary within an acceptable range, achieves precise control of the slip rate of each wheel of the vehicle, reduces the problem of large fluctuations in the slip rate affecting the stability of vehicle operation, thereby enhancing the vehicle's handling stability, and keeps each wheel at a target output torque, thereby effectively reducing the waste of vehicle kinetic energy and increasing the vehicle's cruising range.

[0005] To this end, a third object of the present invention is to provide a vehicle.

[0006] To this end, a fourth object of the present invention is to provide a computer-readable storage medium.

[0007] In order to achieve the above-mentioned purpose, an embodiment of the first aspect of the present invention proposes a torque control method, which includes: determining whether the vehicle is in a slope driving condition; if so, obtaining the target torque adjustment coefficient of each wheel of the vehicle and the maximum available torque of each wheel; obtaining the target output torque corresponding to each wheel according to the maximum available torque of each wheel and the target torque adjustment coefficient of each wheel; and distributing torque to the corresponding wheels according to the target output torque of each wheel.

[0008] According to the torque control method of the embodiment of the present invention, the driving state of each wheel of the vehicle under different driving conditions is monitored in real time through relevant sensors or controllers on the vehicle, and the driving data of the vehicle is obtained, so as to determine whether the vehicle is in a slope driving condition according to the relevant driving data of the vehicle. When the vehicle is in a slope driving condition, the target torque adjustment coefficient of each wheel of the vehicle and the maximum available torque of each wheel are obtained, and the target output torque corresponding to each wheel is determined, and the target output torque of each wheel is input into the PID controller, so that the PID controller reasonably distributes the torque of the corresponding wheel according to the target output torque of each wheel, that is, the motor is adjusted to increase or decrease the torque, so that the slip rate of each wheel of the vehicle changes within an acceptable range, and the slip rate of each wheel of the vehicle is accurately controlled, and the problem of large fluctuations in the slip rate affecting the stability of vehicle operation is reduced, thereby enhancing the vehicle handling stability, and keeping each wheel at the target output torque, thereby effectively reducing the waste of vehicle kinetic energy and increasing the vehicle's cruising range.

[0009] In some embodiments, obtaining the target torque adjustment coefficient of each wheel of the vehicle includes: determining an input control quantity of a PID controller; inputting the input control quantity into the PID controller to perform PID control to obtain the target torque adjustment coefficient of each wheel.

[0010] In some embodiments, determining the input control quantity of the PID controller includes: obtaining the wheel speed difference between the ideal wheel speed of each wheel at the ideal slip rate and the actual wheel speed corresponding to each wheel at the current actual slip rate; and obtaining the input control quantity according to the wheel speed difference.

[0011] In some embodiments, before obtaining the input control amount according to the wheel speed difference, it also includes: limiting the wheel speed difference according to a preset deviation value threshold.

[0012] In some embodiments, the wheel speed difference is limited according to a preset deviation value threshold, including: if the wheel speed difference is less than the preset deviation value threshold, determining that the wheel speed difference is zero; if the wheel speed difference is greater than or equal to the preset deviation value threshold, outputting the wheel speed difference.

[0013] In some embodiments, before performing PID control, it also includes: determining whether the conditions for performing PID control are met; if so, performing PID control, otherwise, not performing PID control.

[0014] In some embodiments, when the vehicle accelerator pedal opening is greater than or equal to a first preset opening, and the absolute value of the actual output torque of the vehicle motor is greater than or equal to the preset torque threshold, and the absolute value of the vehicle speed is less than the first preset vehicle speed threshold, and the current actual slip rate of the vehicle is greater than or equal to the preset slip rate threshold, and the vehicle is not in a braking state, it is judged that the conditions for performing PID control are met.

[0015] In some embodiments, the method of obtaining the maximum available torque of each wheel includes:

[0016] T maxR =L R ** tireR * R

[0017] Among them, T maxR is the maximum available torque of each wheel; WL R is the wheel load of each wheel, f is the friction coefficient of the current road surface, R tireR is the tire radius of each wheel, K R is the pre-calibrated adjustment factor.

[0018] In some embodiments, after performing PID control, the method further includes: outputting a torque increase request flag or a torque decrease request flag according to the driving state of each wheel.

[0019] In some embodiments, a torque increase request flag or a torque reduction request flag is output according to the driving status of each wheel, including: when the wheel slips, the torque reduction request flag is output accordingly; when the wheel brakes, the torque increase request flag is output accordingly.

[0020] In some embodiments, after obtaining the target output torque corresponding to each wheel based on the maximum available torque of each wheel and the target torque adjustment coefficient of each wheel, it also includes: outputting a torque increase control request instruction or a torque reduction control request instruction according to the torque increase request flag or the torque reduction request flag, so as to control the torque increase or torque reduction of each wheel to the corresponding target output torque according to the torque increase control request instruction or the torque reduction control request instruction.

[0021] In some embodiments, determining whether the vehicle is in a slope driving condition includes: when the vehicle accelerator pedal opening is greater than or equal to a second preset opening, and the road slope of the current road surface is greater than or equal to a preset angle, and the vehicle speed is less than a second preset vehicle speed threshold, determining that the vehicle is in the slope driving condition; otherwise, determining that the vehicle is not in the slope driving condition.

[0022] In order to achieve the above-mentioned purpose, an embodiment of the second aspect of the present invention proposes a torque control device, which includes: a judgment module, used to judge whether the vehicle is in a slope driving condition; an acquisition module, used to obtain the target torque adjustment coefficient of each wheel of the vehicle and the maximum available torque of each wheel when the vehicle is in the slope driving condition; a calculation module, used to obtain the target output torque corresponding to each wheel according to the maximum available torque of each wheel and the target torque adjustment coefficient; a control module, used to distribute torque to the corresponding wheels according to the target output torque of each wheel.

[0023] According to the torque control device of the embodiment of the present invention, the driving state of each wheel of the vehicle under different driving conditions is monitored in real time through relevant sensors or controllers on the vehicle, and the driving data of the vehicle is obtained, so as to determine whether the vehicle is in a slope driving condition according to the relevant driving data of the vehicle. When the vehicle is in a slope driving condition, the target torque adjustment coefficient of each wheel of the vehicle and the maximum available torque of each wheel are obtained, and the target output torque corresponding to each wheel is determined, and the target output torque of each wheel is input into the PID controller, so that the PID controller reasonably distributes the torque of the corresponding wheel according to the target output torque of each wheel, that is, the motor is adjusted to increase or decrease the torque, so that the slip rate of each wheel of the vehicle changes within an acceptable range, and the slip rate of each wheel of the vehicle is accurately controlled, and the problem of large fluctuations in the slip rate affecting the stability of vehicle operation is reduced, thereby enhancing the vehicle handling stability, and keeping each wheel at the target output torque, thereby effectively reducing the waste of vehicle kinetic energy and increasing the cruising range of the vehicle.

[0024] In order to achieve the above-mentioned purpose, an embodiment of the third aspect of the present invention proposes a vehicle, which includes: a torque control device as described in the above-mentioned embodiment; or, the vehicle includes: a processor, a memory, and a torque control program stored in the memory and executable on the processor, and when the torque control program is executed by the processor, the torque control method as described in the above-mentioned embodiment is implemented.

[0025] According to the vehicle of the embodiment of the present invention, the driving state of each wheel of the vehicle under different driving conditions is monitored in real time through relevant sensors or controllers on the vehicle, and the driving data of the vehicle is obtained, so as to determine whether the vehicle is in a slope driving condition according to the relevant driving data of the vehicle. When the vehicle is in a slope driving condition, the target torque adjustment coefficient of each wheel of the vehicle and the maximum available torque of each wheel are obtained, and the target output torque corresponding to each wheel is determined, and the target output torque of each wheel is input into the PID controller, so that the PID controller reasonably distributes the torque of the corresponding wheel according to the target output torque of each wheel, that is, the motor is adjusted to increase or decrease the torque, so that the slip rate of each wheel of the vehicle changes within an acceptable range, and the slip rate of each wheel of the vehicle is accurately controlled, and the problem of large fluctuations in the slip rate affecting the stability of vehicle operation is reduced, thereby enhancing the vehicle handling stability, and keeping each wheel at the target output torque, thereby effectively reducing the waste of vehicle kinetic energy and increasing the cruising range of the vehicle.

[0026] In order to achieve the above-mentioned purpose, an embodiment of the fourth aspect of the present invention proposes a computer-readable storage medium, on which a torque control program is stored. When the torque control program is executed by a processor, the torque control method as described in the above-mentioned embodiment is implemented.

[0027] According to the computer-readable storage medium of the embodiment of the present invention, when the torque control program stored thereon is executed by the processor, the driving state of each wheel of the vehicle under different driving conditions is monitored in real time through the relevant sensors or controllers on the vehicle, and the driving data of the vehicle is obtained, so as to determine whether the vehicle is in a slope driving condition according to the relevant driving data of the vehicle. When the vehicle is in a slope driving condition, the target torque adjustment coefficient of each wheel of the vehicle and the maximum available torque of each wheel are obtained, and the target output torque corresponding to each wheel is determined, and the target output torque of each wheel is input into the PID controller, so that the PID controller reasonably distributes the torque of the corresponding wheel according to the target output torque of each wheel, that is, the motor is adjusted to increase or decrease the torque, so that the slip rate of each wheel of the vehicle changes within an acceptable range, and the slip rate of each wheel of the vehicle is accurately controlled, and the problem of large fluctuations in the slip rate affecting the stability of vehicle operation is reduced, thereby enhancing the vehicle handling stability, and keeping each wheel at the target output torque, thereby effectively reducing the waste of vehicle kinetic energy and increasing the vehicle's cruising range.

[0028] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0030] Figure 1 is a flow chart of a torque control method according to an embodiment of the present invention;

[0031] Figure 2 is a flow chart of a torque control method according to another embodiment of the present invention;

[0032] Figure 3 is a structural block diagram of a torque control device according to an embodiment of the present invention;

[0033] Figure 4 is a structural block diagram of a vehicle according to an embodiment of the present invention;

[0034] Figure 5 is a structural block diagram of a vehicle according to another embodiment of the present invention.

[0035] Reference numerals: torque control device 2 ; judgment module 21 ; acquisition module 22 ; calculation module 23 ; control module 24 ; vehicle 3 ; processor 100 ; memory 101 ; torque control program 102 . DETAILED DESCRIPTION

[0036] Embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. Embodiments of the present invention are described in detail below.

[0037] Combine the following Figure 1 and Figure 2 The torque control method according to the embodiment of the present invention is described with examples.

[0038] like Figure 1 As shown, the torque control method of the embodiment of the present invention at least includes steps S1 to S3.

[0039] Step S1, determining whether the vehicle is in a slope driving condition.

[0040] Among them, the ramp driving condition refers to the driving state of the vehicle on a ramp. By acquiring the vehicle's motion state, it is convenient to determine whether the vehicle is in a ramp driving condition, thereby determining whether the vehicle is in a slipping state.

[0041] In an embodiment, the driving state of the vehicle under different driving conditions can be monitored in real time through relevant sensors or controllers on the vehicle, and the driving data of the vehicle can be obtained, such as the opening degree of the vehicle accelerator pedal, the road slope of the current road surface, and the vehicle speed. According to the above driving data, it is determined whether the vehicle is in a ramp driving condition. When the vehicle is in a ramp driving condition, it is considered that the vehicle is prone to slipping, and the slip rate of each wheel needs to be controlled to prevent the high slip rate of the vehicle from threatening the safety of the user. By judging whether the vehicle is in a ramp driving condition according to the current driving data of the vehicle, it is determined whether the wheels of the vehicle are in a slipping state, and when the wheels of the vehicle are in a slipping state, the target torque adjustment coefficient corresponding to each wheel and the maximum available torque of each wheel are obtained, and then the target output torque corresponding to each wheel is calculated, so as to control the vehicle to reasonably distribute the torque to the corresponding wheels of the vehicle according to the target output torque of each wheel, so as to reduce the slip rate of each wheel of the vehicle.

[0042] Step S2: If yes, then obtain the target torque adjustment coefficient of each wheel of the vehicle and the maximum available torque of each wheel.

[0043] Among them, the target torque adjustment coefficient is the most favorable distribution coefficient for torque adjustment of each wheel when the vehicle is in a slipping state, and the maximum available torque is the torque request that each wheel can use to the maximum extent when the vehicle is in a slipping state. By obtaining the above parameters, real-time monitoring of the vehicle itself and adaptive distribution of torque of each wheel are realized, so that during the slipping process of the vehicle, the vehicle can use the torque more effectively, thereby improving the accuracy of vehicle torque control.

[0044] In an embodiment, when the vehicle is in a slope driving condition, the driving state of the vehicle under different driving conditions can be monitored in real time through relevant sensors or controllers on the vehicle, and the vehicle's driving data, such as the target torque adjustment coefficient of each wheel of the vehicle and the maximum available torque of each wheel, can be obtained. After obtaining the above parameters, the target output torque corresponding to each wheel is obtained according to the above parameters, thereby accurately controlling the slip rate of each wheel.

[0045] Step S3, obtaining a target output torque corresponding to each wheel according to the maximum available torque of each wheel and the target torque adjustment coefficient of each wheel.

[0046] Among them, the target output torque is the torque request output by the motor of each wheel after torque adjustment, that is, the output torque obtained according to the maximum available torque of each wheel and the target torque adjustment coefficient. It should be noted that if any parameter of the maximum available torque of each wheel and the target torque adjustment coefficient changes, the target output torque will also be different. The target output torque corresponding to each wheel is obtained according to the above parameters to ensure that the output torque required by the vehicle at different times of driving is not too large or too small, effectively reducing the waste of torque kinetic energy of the vehicle, and providing data support for the reasonable allocation of torque of each wheel of the vehicle.

[0047] In an embodiment, after determining the maximum available torque and the target torque adjustment coefficient of each wheel, the target output torque corresponding to each wheel is calculated and determined based on the maximum available torque of each wheel and the target torque adjustment coefficient of each wheel, so as to accurately control the slip rate of each wheel according to the target output torque of each wheel.

[0048] Step S4: Distribute torque to corresponding wheels according to the target output torque of each wheel.

[0049] In an embodiment, after the target output torque of each wheel is determined, the target output torque of each wheel is input into a PID (Proportional-Integral-Derivative) controller. The PID controller reasonably distributes the torque of the corresponding wheels when the vehicle is in a slipping state according to the target output torque, so as to achieve precise control of the slip rate of each wheel of the vehicle. For example, the torque of the wheel motor is increased or decreased to ensure that each motor always maintains the target torque output, so that the slip rate of each wheel of the vehicle varies within an acceptable range, and the problem of large fluctuations in the slip rate affecting the operational stability of the vehicle is reduced, thereby enhancing the handling stability of the vehicle and increasing the cruising range of the vehicle.

[0050] The vehicle in the embodiment of the present invention may include dual motors, three motors or four motors. A dual motor vehicle is a vehicle in which a motor is provided on each of the front and rear axles, wherein one motor drives the front axle alone and the other motor drives the rear axle alone; a three motor vehicle is a vehicle in which dual motors are provided on one axle, which are respectively used to drive the left and right wheels corresponding to the axle, and one motor is provided on the other axle, which is used to drive the left and right wheels corresponding to the axle. A three motor vehicle includes, for example: dual motors on the rear axle and a single motor on the front axle, or dual motors on the front axle and a single motor on the rear axle. In other words, the vehicle has three motors, one motor is provided on the front axle for driving the front axle alone, and the other two motors are provided on the rear axle for driving the left and right wheels of the rear axle; or, one motor is provided on the rear axle for driving the rear axle alone, and the other two motors are provided on the front axle for driving the left and right wheels of the front axle. A four-motor vehicle is a vehicle equipped with four motors, each of which drives one wheel. That is, the front axle is equipped with two motors to drive the two wheels of the front axle respectively, and the rear axle is equipped with two motors to drive the two wheels of the rear axle respectively. In this way, independent control of the motors can be achieved to improve the response speed of the vehicle and make the vehicle more flexible, so that the ground adhesion can be fully utilized and slip control can be achieved, which is beneficial to improving the driving power and stability of the vehicle.

[0051] According to the torque control method of the embodiment of the present invention, the driving state of each wheel of the vehicle under different driving conditions is monitored in real time through relevant sensors or controllers on the vehicle, and the driving data of the vehicle is obtained, so as to determine whether the vehicle is in a slope driving condition according to the relevant driving data of the vehicle. When the vehicle is in a slope driving condition, the target torque adjustment coefficient of each wheel of the vehicle and the maximum available torque of each wheel are obtained, and the target output torque corresponding to each wheel is determined, and the target output torque of each wheel is input into the PID controller, so that the PID controller reasonably distributes the torque of the corresponding wheel according to the target output torque of each wheel, that is, the motor is adjusted to increase or decrease the torque, so that the slip rate of each wheel of the vehicle changes within an acceptable range, and the slip rate of each wheel of the vehicle is accurately controlled, and the problem of large fluctuations in the slip rate affecting the operational stability of the vehicle is reduced, thereby enhancing the handling stability of the vehicle, and keeping each wheel at the target output torque, thereby effectively reducing the waste of vehicle kinetic energy and increasing the cruising range of the vehicle.

[0052] In some embodiments, obtaining the target torque adjustment coefficient of each wheel of the vehicle includes: determining an input control quantity of a PID controller; inputting the input control quantity into the PID controller to perform PID control to obtain the target torque adjustment coefficient of each wheel.

[0053] In an embodiment, the driving state of the vehicle under different driving conditions can be monitored in real time through relevant sensors or controllers on the vehicle, and the driving data of the vehicle, such as the maximum available torque of each wheel and the target torque adjustment coefficient of each wheel, can be obtained. After obtaining the above parameters, the slip controller determines the input control quantity of the PID controller according to the above parameters, which corresponds to the target output torque of each wheel. The calculation formula of the target output torque is as follows: target output torque = maximum available torque of each wheel * (1-target torque adjustment coefficient). After determining the input control quantity, the determined input control quantity is input into the PID controller. The PID controller performs traditional PID control with gain scheduling according to the input control quantity, and outputs the determined target torque adjustment coefficient in the form of a percentage.

[0054] The PID controller contains a calibration parameter that can manually reset the integrator. This calibration parameter is "OR"ed with the reset logic flag output in the reset logic. That is, when the calibration parameter is 0, the integrator is reset if the reset logic flag is 0, and the integrator is not reset if the reset logic flag is 1; when the calibration parameter is 1, the integrator is not reset; the default value of this calibration parameter is 0. The upper and lower limits of the integrator are set by this calibration parameter.

[0055] The PID controller includes a gain planning function, which differentiates the input control quantity, performs low-pass filtering, and uses the obtained value and the friction coefficient to look up the table to obtain the initial value of the proportional adjustment parameter kp and the initial value of the integral adjustment parameter ki respectively. The two values ​​are respectively multiplied by the calibration parameters for proportional scaling to obtain the parameters kp and ki used by the PID controller.

[0056] The PID controller calculates the percentage of the final output control amount in the total torque, and the value is limited to ±100%. That is, when the limit is exceeded, ±100% is output as the input of the final torque output module; when the limit is not exceeded, the proportion coefficient is directly output.

[0057] In some embodiments, determining the input control amount of the PID controller includes: obtaining the wheel speed difference between the ideal wheel speed of each wheel at the ideal slip rate and the actual wheel speed corresponding to each wheel at the current actual slip rate; and obtaining the input control amount according to the wheel speed difference.

[0058] In an embodiment, according to the vehicle speed and friction coefficient output under current conditions, a table is looked up to obtain the current ideal slip rate, and based on the ideal slip rate and the vehicle speed output under current conditions, the ideal wheel speed at the ideal slip rate is calculated; the wheel speed can be calculated according to the motor speed signal as the actual wheel speed corresponding to the current actual slip rate, and the wheel speed difference between the ideal wheel speed of each wheel at the ideal slip rate and the actual wheel speed of each wheel corresponding to the current actual slip rate is calculated to obtain a wheel speed deviation value, and the wheel speed difference is used as the input control quantity of the PID controller, and the PID controller performs traditional PID control with gain scheduling according to the input control quantity, wherein the gain scheduling of the PID controller calculates the output adjusted gain based on the current road friction coefficient and the wheel speed difference, the default (basic) gain can be calibrated using calibration parameters, and the target gain is calculated using the wheel speed difference.

[0059] In some embodiments, before obtaining the input control amount according to the wheel speed difference, the method further includes: performing a limiting process on the wheel speed difference according to a preset deviation value threshold.

[0060] In an embodiment, a dead zone limit is set based on the vehicle speed, that is, a pre-calibrated vehicle speed-deviation value threshold correspondence table is queried based on the vehicle speed to obtain a preset deviation value threshold, and the wheel speed difference is finally output after being limited by the dead zone limit module to avoid inaccurate calculation of the wheel speed difference when the vehicle speed is too low.

[0061] In some embodiments, the wheel speed difference is limited according to a preset deviation value threshold, including: if the wheel speed difference is less than the preset deviation value threshold, determining the wheel speed difference to be zero; if the wheel speed difference is greater than or equal to the preset deviation value threshold, outputting the wheel speed difference.

[0062] In an embodiment, if the wheel speed difference is less than a preset deviation value threshold, it is considered that the slip rate of each wheel of the vehicle is within an acceptable range, and the wheel speed difference is determined to be zero; if the wheel speed difference is greater than or equal to the preset deviation value threshold, it is considered that the slip rate of each wheel of the vehicle is large, and the wheel speed difference is directly output as the input control quantity of the PID controller, thereby reducing the error in the wheel speed difference calculation.

[0063] In some embodiments, before performing PID control, it also includes: determining whether the conditions for performing PID control are met; if so, performing PID control, otherwise, not performing PID control.

[0064] In an embodiment, the reset logic is responsible for enabling calculations, component activation, and resetting the integrator of the PID controller, which determines whether the PID controller is started. Before the PID controller performs PID control, the reset logic determines whether the vehicle meets multiple conditions for PID control. These conditions are determined by multiple limit modules and calibration values. For each condition, a delay function is set to avoid frequent jumps. In addition, for conditions with positive and negative values ​​at the same time, there are two other thresholds to allow coverage of two ranges (i.e., positive and negative ranges). Condition selection is implemented using Bit Mask and setting parameters, where the parameter value can be changed, that is, it can be adjusted through conditions. If multiple conditions for PID control are met, the PID controller is controlled to perform PID control; if any of the multiple conditions for PID control is not met, the PID controller is controlled not to perform PID control.

[0065] In some embodiments, when the vehicle accelerator pedal opening is greater than or equal to a first preset opening, and the absolute value of the actual output torque of the vehicle motor is greater than or equal to the preset torque threshold, and the absolute value of the vehicle speed is less than the first preset vehicle speed threshold, and the current actual slip rate of the vehicle is greater than or equal to the preset slip rate threshold, and the vehicle is not in a braking state, it is judged that the conditions for performing PID control are met.

[0066] In an embodiment, the driving state of the vehicle under different driving conditions can be monitored in real time through relevant sensors or controllers on the vehicle, and the driving data of the vehicle, such as the opening of the vehicle accelerator pedal, the absolute value of the actual output torque of the vehicle motor, the absolute value of the vehicle speed, the current actual slip rate of the vehicle, and the brake flag position, can be obtained to determine the size relationship between the opening of the vehicle accelerator pedal and a first preset opening, and at the same time determine the size relationship between the absolute value of the actual output torque of the vehicle motor and a preset torque threshold, and at the same time determine the size relationship between the absolute value of the vehicle speed and the first preset vehicle speed threshold, and at the same time determine the size relationship between the current actual slip rate of the vehicle and the preset slip rate threshold When the vehicle accelerator pedal opening is greater than or equal to a first preset opening, and the absolute value of the actual output torque of the vehicle motor is greater than or equal to the preset torque threshold, that is, the actual output torque of the vehicle motor is higher than the preset torque threshold in the positive range or lower than the preset torque threshold in the negative range, and the absolute value of the vehicle speed is less than the first preset vehicle speed threshold, that is, the vehicle speed is lower than the preset torque threshold in the positive range or higher than the preset torque threshold in the negative range, and the current actual slip rate of the vehicle is greater than or equal to the preset slip rate threshold, and the brake flag is not in the activation flag, that is, the vehicle is not in a braking state, it is considered that the vehicle meets the conditions for PID control.

[0067] In some embodiments, the method of obtaining the maximum available torque of each wheel includes:

[0068] T maxR =LR ** tireR * R

[0069] Among them, T maxR is the maximum available torque of each wheel; WL R is the wheel load of each wheel, f is the friction coefficient of the current road surface, R tireR is the tire radius of each wheel, K R is the pre-calibrated adjustment factor.

[0070] In an embodiment, the driving state of the vehicle under different driving conditions can be monitored in real time through relevant sensors or controllers on the vehicle, and the driving data of the vehicle can be obtained, such as obtaining the wheel load of each wheel, for example, denoted as WL R , the friction coefficient of the current road surface is recorded as f, and the tire radius of each wheel is recorded as R tireR , the pre-calibrated adjustment coefficient is recorded as K R After obtaining the above parameters, the maximum available torque of each wheel is calculated according to the above parameters, for example, denoted as T maxR , that is, the maximum available torque T of each wheel maxR The calculation formula is as follows:

[0071] T maxR =L R ** tireR * R

[0072] It should be noted that when the vehicle is in driving state, the maximum available torque T of each wheel is maxR is a positive value. When the vehicle is in reverse towing state, the maximum available torque T of each wheel maxR is a negative value, by calculating the maximum available torque T of each wheel maxR , which is convenient for calculating the maximum available torque T of each wheel maxR The target output torque corresponding to each wheel is calculated.

[0073] In some embodiments, after performing PID control, the method further includes: outputting a torque increase request flag or a torque decrease request flag according to the driving state of each wheel.

[0074] In an embodiment, based on the driving state of each wheel, the current torque operating range is determined, the actual positive and negative torque signals of the motor of each wheel are used to obtain the output limits of the positive and negative torque, and a delay limit judgment is made to output the corresponding flag bit, and the above flag bit value is ANDed with the flag bit value output by the reset logic to determine whether it is a torque increase request or a torque reduction request at this time, and output the torque increase request flag bit or the torque reduction request flag bit. The flag bit output value can select whether to output a torque request through calibration parameters, otherwise it outputs 0.

[0075] In some embodiments, outputting a torque increase request flag or a torque reduction request flag according to the driving state of each wheel includes: when a wheel slips, a torque reduction request flag is output accordingly; when a wheel brakes, a torque increase request flag is output accordingly. That is, when any vehicle slips, a torque reduction request flag of the wheel is output accordingly; when any wheel brakes, a torque increase request flag of the wheel is output accordingly.

[0076] In the embodiment, when each wheel slips, it is considered that the motor of each wheel is negative torque, and the corresponding output torque reduction request flag is 0; when each wheel brakes, it is considered that the motor of each wheel is positive torque, and the corresponding output torque reduction request flag is 1.

[0077] In some embodiments, after obtaining the target output torque corresponding to each wheel based on the maximum available torque of each wheel and the target torque adjustment coefficient of each wheel, it also includes: outputting a torque increase control request instruction or a torque reduction control request instruction according to the torque increase request flag or the torque reduction request flag, so as to control each wheel of the vehicle to increase or reduce the torque to its corresponding target output torque according to the torque increase control request instruction or the torque reduction control request instruction.

[0078] In an embodiment, after determining the torque increase request flag, a torque increase control request instruction is output according to the torque increase request flag, and when the motor has positive torque slip, each wheel of the vehicle is controlled to reduce the torque to its corresponding target output torque according to the torque increase control request instruction; or after determining the torque reduction request flag, a torque reduction control request instruction is output according to the torque reduction request flag, and when the motor has negative torque slip, each wheel of the vehicle is controlled to increase the torque to its corresponding target output torque according to the torque reduction control request instruction, that is, the absolute value of the actual output torque of the motor is reduced.

[0079] In some embodiments, determining whether the vehicle is in a slope driving condition includes: when the vehicle accelerator pedal opening is greater than or equal to a second preset opening, and the road slope of the current road surface is greater than or equal to a preset angle, and the vehicle speed is less than a second preset vehicle speed threshold, determining that the vehicle is in a slope driving condition; otherwise, determining that the vehicle is not in a slope driving condition.

[0080] In an embodiment, the driving state of the vehicle under different driving conditions can be monitored in real time through relevant sensors or controllers on the vehicle, and the driving data of the vehicle, such as the opening of the vehicle accelerator pedal, the road slope of the current road surface, and the vehicle speed, can be obtained to determine the size relationship between the opening of the vehicle accelerator pedal and a second preset opening, and at the same time determine the size relationship between the road slope of the current road surface and a preset angle, and at the same time determine the size relationship between the vehicle speed and a second preset vehicle speed threshold. When the opening of the vehicle accelerator pedal is greater than or equal to the second preset opening, and the road slope of the current road surface is greater than or equal to the second preset opening, the accelerator pedal of the vehicle is automatically monitored. When the vehicle speed is less than the second preset speed threshold, the vehicle is considered to be in a ramp driving condition. If any of the above parameters is not satisfied, the vehicle is considered not to be in a ramp driving condition. The second preset opening, the preset angle and the second preset speed threshold include a delay function. For example, when the vehicle accelerator pedal opening is greater than or equal to the second preset opening, the output value is 1; when the vehicle accelerator pedal opening decreases from greater than the second preset opening to equal to the second preset opening, the output value is still 1; when the vehicle accelerator pedal opening is less than the second preset opening, the output value becomes 0. If the road slope of the current road surface is greater than or equal to the preset angle, the output value is 1; if the road slope of the current road surface decreases from greater than the preset angle to equal to the preset angle, the output value is still 1; if the road slope of the current road surface is less than the preset angle, the output value becomes 0, and its output value enters the low-pass filter. When the vehicle speed is less than the second preset speed threshold, the output value is 1; when the vehicle speed is greater than or equal to the second preset speed threshold, the output value is 0.

[0081] Reference below Figure 2 The torque control method according to the embodiment of the present invention is described with examples.

[0082] like Figure 2 As shown, the torque control method of the embodiment of the present invention at least includes steps S11 to S24.

[0083] Step S11, when the vehicle accelerator pedal opening is greater than or equal to a second preset opening, the road slope of the current road surface is greater than or equal to a preset angle, and the vehicle speed is less than a second preset speed threshold, it is determined that the vehicle is in a slope driving condition.

[0084] Step S12, obtaining the wheel speed difference between the ideal wheel speed of each wheel at the ideal slip rate and the actual wheel speed corresponding to each wheel at the current actual slip rate.

[0085] Step S13, determining whether the wheel speed difference is less than a preset deviation value threshold, if so, executing step S15; if not, executing step S14.

[0086] Step S14, outputting the wheel speed difference.

[0087] Step S15, determining that the wheel speed difference is zero.

[0088] Step S16, obtaining an input control amount according to the wheel speed difference.

[0089] Step S17, when the vehicle accelerator pedal opening is greater than or equal to a first preset opening, and the absolute value of the actual output torque of the vehicle motor is greater than or equal to the preset torque threshold, and the absolute value of the vehicle speed is less than the first preset vehicle speed threshold, and the current actual slip rate of the vehicle is greater than or equal to the preset slip rate threshold, and the vehicle is not in a braking state, it is judged that the conditions for performing PID control are met.

[0090] Step S18, inputting the input control variable into the PID controller to perform PID control to obtain the target torque adjustment coefficient.

[0091] Step S19, obtaining the maximum available torque of each wheel.

[0092] Step S20, obtaining the target output torque corresponding to each wheel.

[0093] Step S21: when the wheel slips, a torque reduction request flag is output accordingly.

[0094] Step S22: outputting a torque reduction control request instruction according to the torque reduction request flag, so as to control each wheel of the vehicle to reduce the torque to its corresponding target output torque according to the torque reduction control request instruction.

[0095] Step S23, when the wheel is braked, a corresponding torque increase request flag is output.

[0096] Step S24: outputting a torque increase control request instruction according to the torque increase request flag, so as to control each wheel of the vehicle to increase the torque to its corresponding target output torque according to the torque increase control request instruction.

[0097] According to the torque control method of the embodiment of the present invention, the driving state of each wheel of the vehicle under different driving conditions is monitored in real time through relevant sensors or controllers on the vehicle, and the driving data of the vehicle is obtained, so as to determine whether the vehicle is in a slope driving condition according to the relevant driving data of the vehicle. When the vehicle is in a slope driving condition, the target torque adjustment coefficient of each wheel of the vehicle and the maximum available torque of each wheel are obtained, and the target output torque corresponding to each wheel is determined, and the target output torque of each wheel is input into the PID controller, so that the PID controller reasonably distributes the torque of the corresponding wheel according to the target output torque of each wheel, that is, the motor is adjusted to increase or decrease the torque, so that the slip rate of each wheel of the vehicle changes within an acceptable range, and the slip rate of each wheel of the vehicle is accurately controlled, and the problem of large fluctuations in the slip rate affecting the stability of vehicle operation is reduced, thereby enhancing the vehicle handling stability, and keeping each wheel at the target output torque, thereby effectively reducing the waste of vehicle kinetic energy and increasing the vehicle's cruising range.

[0098] Reference below Figure 3 The torque control device 2 according to the embodiment of the present invention will be described.

[0099] like Figure 3 As shown, the torque control device 2 of the embodiment of the present invention includes: a judgment module 21, an acquisition module 22, a calculation module 23 and a control module 24, wherein:

[0100] The judgment module 21 is used to judge whether the vehicle is in a slope driving condition; the acquisition module 22 is used to obtain the target torque adjustment coefficient of each wheel of the vehicle and the maximum available torque of each wheel when the vehicle is in a slope driving condition; the calculation module 23 is used to obtain the target output torque corresponding to each wheel according to the maximum available torque of each wheel and the target torque adjustment coefficient of each wheel; the control module 24 is used to distribute torque to the corresponding wheel according to the target output torque of each wheel.

[0101] In an embodiment, the judgment module 21 can monitor the driving state of the vehicle in different driving conditions in real time through relevant sensors or controllers on the vehicle, and obtain the driving data of the vehicle, such as the accelerator pedal opening of the vehicle, the road slope of the current road surface, and the vehicle speed, and judge whether the vehicle is in a ramp driving condition according to the above driving data. When the vehicle is in a ramp driving condition, it is considered that the vehicle is prone to slipping, and the slip rate of each wheel needs to be controlled to prevent the high slip rate of the vehicle from threatening the safety of the user. By judging whether the vehicle is in a ramp driving condition according to the current driving data of the vehicle, it is determined whether the wheels of the vehicle are in a slipping state, and when the wheels of the vehicle are in a slipping state, the target torque adjustment coefficient corresponding to each wheel and the maximum available torque of each wheel are obtained, and then the target output torque corresponding to each wheel is calculated, so as to control the vehicle to reasonably distribute the torque to the corresponding wheels of the vehicle according to the target output torque of each wheel, so as to reduce the slip rate of each wheel of the vehicle. Among them, the ramp driving condition is the driving state of the vehicle driving on a ramp. By obtaining the motion state of the vehicle, it is convenient to judge whether the vehicle is in a ramp driving condition, so as to determine whether the vehicle is in a slipping state.

[0102] The acquisition module 22 can monitor the driving state of the vehicle under different driving conditions in real time through relevant sensors or controllers on the vehicle, and obtain the driving data of the vehicle, such as the target torque adjustment coefficient of each wheel of the vehicle and the maximum available torque of each wheel. After obtaining the above parameters, the target output torque corresponding to each wheel is obtained according to the above parameters, so as to accurately control the slip rate of each wheel. Among them, the target torque adjustment coefficient is the most favorable distribution coefficient for each wheel to adjust the torque when the vehicle is in a slipping state, and the maximum available torque is the torque request that each wheel can use to the maximum extent when the vehicle is in a slipping state. By obtaining the above parameters, the real-time monitoring of the vehicle itself and the adaptive distribution of the torque of each wheel are realized, so that in the process of vehicle slipping, the vehicle can be guaranteed to use the torque more effectively, thereby improving the accuracy of vehicle torque control.

[0103] The calculation module 23 calculates and determines the target output torque corresponding to each wheel according to the maximum available torque of each wheel and the target torque adjustment coefficient of each wheel, so as to accurately control the slip rate of each wheel according to the target output torque of each wheel. Among them, the target output torque is the torque request output by the motor of each wheel after torque adjustment, that is, the output torque obtained according to the maximum available torque of each wheel and the target torque adjustment coefficient of each wheel. It should be noted that if any parameter of the maximum available torque and the target torque adjustment coefficient of each wheel changes, the target output torque will also be different. The target output torque corresponding to each wheel is obtained according to the above parameters, ensuring that the output torque required by the vehicle at different times of driving will not be too large or too small, effectively reducing the waste of torque kinetic energy of the vehicle, and providing data support for the reasonable allocation of torque of each wheel of the vehicle.

[0104] The control module 24 inputs the target output torque of each wheel into the PID controller. The PID controller reasonably distributes the torque of the corresponding wheels when the vehicle is in a slipping state according to the target output torque, so as to achieve precise control of the slip rate of each wheel of the vehicle. For example, the torque of the wheel motor is increased or decreased to ensure that each motor always maintains the target torque output, so that the slip rate of each wheel of the vehicle varies within an acceptable range, reducing the problem of large fluctuations in the slip rate affecting the operational stability of the vehicle, thereby enhancing the handling stability of the vehicle and increasing the cruising range of the vehicle.

[0105] According to the torque control device 2 of the embodiment of the present invention, the driving state of each wheel of the vehicle under different driving conditions is monitored in real time through relevant sensors or controllers on the vehicle, and the driving data of the vehicle is obtained, so as to determine whether the vehicle is in a slope driving condition according to the relevant driving data of the vehicle. When the vehicle is in a slope driving condition, the target torque adjustment coefficient of each wheel of the vehicle and the maximum available torque of each wheel are obtained, and the target output torque corresponding to each wheel is determined, and the target output torque of each wheel is input into the PID controller, so that the PID controller reasonably distributes the torque of the corresponding wheel according to the target output torque of each wheel, that is, the motor is adjusted to increase or decrease the torque, so that the slip rate of each wheel of the vehicle changes within an acceptable range, and the slip rate of each wheel of the vehicle is accurately controlled, and the problem of large fluctuations in the slip rate affecting the operational stability of the vehicle is reduced, thereby enhancing the handling stability of the vehicle, and keeping each wheel at the target output torque, thereby effectively reducing the waste of vehicle kinetic energy and increasing the cruising range of the vehicle.

[0106] In some embodiments, when the acquisition module 22 acquires the target torque adjustment coefficient of each wheel of the vehicle, it is specifically used to: determine the input control quantity of the PID controller; input the input control quantity into the PID controller to perform PID control to obtain the target torque adjustment coefficient of each wheel.

[0107] In some embodiments, when the acquisition module 22 determines the input control amount of the PID controller, it is specifically used to: obtain the wheel speed difference between the ideal wheel speed of each wheel at the ideal slip rate and the actual wheel speed corresponding to each wheel at the current actual slip rate; and obtain the input control amount according to the wheel speed difference.

[0108] In some embodiments, before obtaining the input control amount according to the wheel speed difference, the acquisition module 22 is specifically used to: perform a limit process on the wheel speed difference according to a preset deviation value threshold.

[0109] In some embodiments, when the acquisition module 22 performs limit processing on the wheel speed difference according to the preset deviation value threshold, it is specifically used to: if the wheel speed difference is less than the preset deviation value threshold, determine that the wheel speed difference is zero; if the wheel speed difference is greater than or equal to the preset deviation value threshold, output the wheel speed difference.

[0110] In some embodiments, before performing PID control, the acquisition module 22 is further specifically used to: determine whether the conditions for performing PID control are met; if so, perform PID control, otherwise, do not perform PID control.

[0111] In some embodiments, the acquisition module 22 determines whether the conditions for performing PID control are met based on the vehicle accelerator pedal opening, the actual output torque of the vehicle motor, the absolute value of the vehicle speed, and the current actual slip rate of the vehicle. When the vehicle accelerator pedal opening is greater than or equal to a first preset opening, and the absolute value of the actual output torque of the vehicle motor is greater than or equal to the preset torque threshold, and the absolute value of the vehicle speed is less than the first preset vehicle speed threshold, and the current actual slip rate of the vehicle is greater than or equal to the preset slip rate threshold, and the vehicle is not in a braking state, it is judged that the conditions for performing PID control are met.

[0112] In some embodiments, when the acquisition module 22 acquires the maximum available torque of each wheel, it is specifically used to:

[0113] T maxR =L R ** tireR * R

[0114] Among them, T maxR is the maximum available torque of each wheel; WL R is the wheel load of each wheel, f is the friction coefficient of the current road surface, R tireR is the tire radius of each wheel, K R is the pre-calibrated adjustment factor.

[0115] In some embodiments, after performing PID control, the calculation module 23 is further specifically used to: output a torque increase request flag or a torque decrease request flag according to the driving state of each wheel.

[0116] In some embodiments, when the calculation module 23 outputs a torque increase request flag or a torque reduction request flag according to the driving status of each wheel, it is specifically used for: when the wheel slips, the corresponding torque reduction request flag is output; when the wheel brakes, the corresponding torque increase request flag is output.

[0117] In some embodiments, after obtaining the target output torque corresponding to each wheel based on the maximum available torque of each wheel and the target torque adjustment coefficient of each wheel, the calculation module 23 is also specifically used to: output a torque increase control request instruction or a torque reduction control request instruction according to the torque increase request flag or the torque reduction request flag, so as to control each wheel of the vehicle to increase or reduce the torque to its corresponding target output torque according to the torque increase control request instruction or the torque reduction control request instruction.

[0118] In some embodiments, the judgment module 21 judges whether the vehicle is in a slope driving condition, including: when the vehicle accelerator pedal opening is greater than or equal to a second preset opening, and the road slope of the current road surface is greater than or equal to a preset angle, and the vehicle speed is less than a second preset vehicle speed threshold, it is judged that the vehicle is in a slope driving condition, otherwise, it is judged that the vehicle is not in a slope driving condition.

[0119] According to the torque control device 2 of the embodiment of the present invention, the driving state of each wheel of the vehicle under different driving conditions is monitored in real time through relevant sensors or controllers on the vehicle, and the driving data of the vehicle is obtained, so as to determine whether the vehicle is in a slope driving condition according to the relevant driving data of the vehicle. When the vehicle is in a slope driving condition, the target torque adjustment coefficient of each wheel of the vehicle and the maximum available torque of each wheel are obtained, and the target output torque corresponding to each wheel is determined, and the target output torque of each wheel is input into the PID controller, so that the PID controller reasonably distributes the torque of the corresponding wheel according to the target output torque of each wheel, that is, the motor is adjusted to increase or decrease the torque, so that the slip rate of each wheel of the vehicle changes within an acceptable range, and the slip rate of each wheel of the vehicle is accurately controlled, and the problem of large fluctuations in the slip rate affecting the operational stability of the vehicle is reduced, thereby enhancing the handling stability of the vehicle, and keeping each wheel at the target output torque, thereby effectively reducing the waste of vehicle kinetic energy and increasing the cruising range of the vehicle.

[0120] Reference below Figure 4 and Figure 5 A vehicle 3 according to an embodiment of the present invention will be described.

[0121] In some embodiments, Figure 4 As shown, the vehicle 3 according to the embodiment of the present invention comprises a torque control device 2 as described in any one of the above embodiments of the present invention.

[0122] In other embodiments, Figure 5 As shown, the vehicle 3 of the embodiment of the present invention includes a processor 100, a memory 101, and a torque control program 102 stored in the memory 101 and executable on the processor 100. When the torque control program 102 is executed by the processor 100, the torque control method of the above embodiment is implemented.

[0123] According to the vehicle 3 of the embodiment of the present invention, the driving state of each wheel of the vehicle under different driving conditions is monitored in real time through relevant sensors or controllers on the vehicle, and the driving data of the vehicle is obtained, so as to determine whether the vehicle is in a slope driving condition according to the relevant driving data of the vehicle. When the vehicle is in a slope driving condition, the target torque adjustment coefficient of each wheel of the vehicle and the maximum available torque of each wheel are obtained, and the target output torque corresponding to each wheel is determined, and the target output torque of each wheel is input into the PID controller, so that the PID controller reasonably distributes the torque of the corresponding wheel according to the target output torque of each wheel, that is, the motor is adjusted to increase or decrease the torque, so that the slip rate of each wheel of the vehicle varies within an acceptable range, and the slip rate of each wheel of the vehicle is accurately controlled, and the problem of large fluctuations in the slip rate affecting the operational stability of the vehicle is reduced, thereby enhancing the handling stability of the vehicle, and keeping each wheel at the target output torque, thereby effectively reducing the waste of vehicle kinetic energy and increasing the cruising range of the vehicle.

[0124] The following describes a computer-readable storage medium according to an embodiment of the present invention.

[0125] A torque control program is stored on a computer-readable storage medium in an embodiment of the present invention. When the torque control program is executed by a processor, the torque control method described in any one of the above embodiments of the present invention is implemented.

[0126] According to the computer-readable storage medium of the embodiment of the present invention, when the torque control program stored thereon is executed by the processor, the driving state of each wheel of the vehicle under different driving conditions is monitored in real time through the relevant sensors or controllers on the vehicle, and the driving data of the vehicle is obtained, so as to determine whether the vehicle is in a slope driving condition according to the relevant driving data of the vehicle. When the vehicle is in a slope driving condition, the target torque adjustment coefficient of each wheel of the vehicle and the maximum available torque of each wheel are obtained, and the target output torque corresponding to each wheel is determined, and the target output torque of each wheel is input into the PID controller, so that the PID controller reasonably distributes the torque of the corresponding wheel according to the target output torque of each wheel, that is, the motor is adjusted to increase or decrease the torque, so that the slip rate of each wheel of the vehicle changes within an acceptable range, and the slip rate of each wheel of the vehicle is accurately controlled, and the problem of large fluctuations in the slip rate affecting the operational stability of the vehicle is reduced, thereby enhancing the handling stability of the vehicle, and keeping each wheel at the target output torque, thereby effectively reducing the waste of vehicle kinetic energy and increasing the cruising range of the vehicle.

[0127] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0128] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A torque control method, characterized in that: The following steps are involved: Determine whether the vehicle is in a slope driving condition; If yes, then obtaining the target torque adjustment coefficient of each wheel of the vehicle and the maximum available torque of each wheel; Obtaining a target output torque corresponding to each wheel according to the maximum available torque of each wheel and the target torque adjustment coefficient of each wheel; Torque is distributed to the corresponding wheels according to the target output torque of each wheel.

2. The torque control method according to claim 1, characterized in that: Obtain the target torque adjustment coefficient of each wheel of the vehicle, including: Determine the input control quantity of the PID controller; The input control amount is input into the PID controller to perform PID control to obtain a target torque adjustment coefficient of each wheel.

3. The torque control method according to claim 2, characterized in that: Determine the input control quantity of the PID controller, including: Obtaining a wheel speed difference between an ideal wheel speed of each wheel at an ideal slip rate and an actual wheel speed corresponding to each wheel at a current actual slip rate; The input control amount is obtained according to the wheel speed difference.

4. The torque control method according to claim 3, characterized in that: Before obtaining the input control amount according to the wheel speed difference, the method further includes: The wheel speed difference is limited according to a preset deviation value threshold.

5. The torque control method according to claim 4, characterized in that: The wheel speed difference is limited according to a preset deviation value threshold, including: If the wheel speed difference is less than the preset deviation value threshold, determining that the wheel speed difference is zero; If the wheel speed difference is greater than or equal to the preset deviation value threshold, the wheel speed difference is output.

6. The torque control method according to claim 2, characterized in that: Before PID control, it also includes: Determine whether the conditions for PID control are met; If yes, PID control is performed, otherwise, no PID control is performed.

7. The torque control method according to claim 6, characterized in that: When the vehicle's accelerator pedal opening is greater than or equal to a first preset opening, and the absolute value of the vehicle's motor's actual output torque is greater than or equal to the preset torque threshold, and the absolute value of the vehicle speed is less than the first preset vehicle speed threshold, and the vehicle's current actual slip rate is greater than or equal to the preset slip rate threshold, and the vehicle is not in a braking state, it is judged that the conditions for performing PID control are met.

8. The torque control method according to claim 1, characterized in that: The method of obtaining the maximum available torque of each wheel includes: T maxR =L R ** tireR * R Among them, T maxR is the maximum available torque of each wheel; WL R is the wheel load of each wheel, f is the friction coefficient of the current road surface, R tireR is the tire radius of each wheel, K R is the pre-calibrated adjustment factor.

9. The torque control method according to claim 2, characterized in that: After PID control, it also includes: Output the torque increase request flag or torque reduction request flag according to the driving status of each wheel.

10. The torque control method according to claim 9, characterized in that: Outputting a torque increase request flag or a torque decrease request flag according to the driving status of each wheel, including: When the wheel slips, the torque reduction request flag is output accordingly; When the wheel is braked, the torque increase request flag is output accordingly.

11. The torque control method according to claim 9, characterized in that: After obtaining the target output torque corresponding to each wheel according to the maximum available torque of each wheel and the target torque adjustment coefficient of each wheel, the method further includes: A torque increase control request instruction or a torque reduction control request instruction is output correspondingly according to the torque increase request flag or the torque reduction request flag, so as to control the torque increase or torque reduction of each wheel to the corresponding target output torque according to the torque increase control request instruction or the torque reduction control request instruction.

12. The torque control method according to claim 1, characterized in that: Determine whether the vehicle is in a slope driving condition, including: When the vehicle accelerator pedal opening is greater than or equal to a second preset opening, the road slope of the current road surface is greater than or equal to a preset angle, and the vehicle speed is less than a second preset speed threshold, it is determined that the vehicle is in the slope driving condition; otherwise, it is determined that the vehicle is not in the slope driving condition.

13. A vehicle, characterized in that: include: A processor, a memory, and a torque control program stored in the memory and executable on the processor, wherein the torque control program implements the torque control method according to any one of claims 1 to 12 when executed by the processor.

14. A computer-readable storage medium, characterized in that: A torque control program is stored on a computer-readable storage medium, and when the torque control program is executed by a processor, the torque control method according to any one of claims 1 to 12 is implemented.

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