Torque control method, vehicle and computer readable storage medium

Abstract

The application provides a torque control method, a vehicle and a computer readable storage medium. The method comprises the following steps: determining whether the vehicle is in a hill driving condition; if yes, obtaining target torque adjustment coefficients of each wheel of the vehicle and maximum available torques of each wheel; obtaining target output torques corresponding to each wheel according to the maximum available torques of each wheel and the target torque adjustment coefficients of each wheel; and distributing torques to corresponding wheels according to the target output torques of each wheel. The application makes the slip rates of each wheel of the vehicle change within an acceptable range, realizes accurate control of the slip rates of each wheel of the vehicle, reduces the problem that the slip rates fluctuate greatly and affect the stability of the vehicle operation, thereby enhancing the steering stability of the vehicle, and makes each wheel keep at the target output torque, thereby effectively reducing the kinetic energy waste of the vehicle and increasing the cruising range of the vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a torque control method, a vehicle and a computer readable storage medium. BACKGROUND

[0002] During the vehicle driving, the motor needs to output torque to the wheels at all times to ensure that the vehicle can normally respond to the actions of the driver, but due to different driving conditions of the vehicle and different driving habits of the driver, etc., the vehicle torque output will always waste the kinetic energy of the torque, consume the energy of the vehicle itself, and greatly reduce the cruising range of the vehicle. SUMMARY

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

[0004] To this end, one object of the present application is to propose a torque control method, which makes the slip ratio of each wheel of the vehicle vary within an acceptable range, realizes accurate control of the slip ratio of each wheel of the vehicle, reduces the problem of large slip ratio fluctuation affecting the stability of the vehicle operation, thereby enhancing the vehicle handling stability, and keeps each wheel at the target output torque, thereby effectively reducing the waste of vehicle kinetic energy and increasing the cruising range of the vehicle.

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

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

[0007] In order to achieve the above-mentioned objects, an embodiment of the first aspect of the present application proposes a torque control method, the method comprising: judging whether the vehicle is in a hill driving condition; if yes, obtaining a target torque adjustment coefficient of each wheel of the vehicle and a 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 wheel according to the target output torque of each wheel.

[0008] According to the torque control method, the driving states of the wheels of the vehicle in different driving conditions are monitored in real time by using related sensors or controllers on the vehicle, and driving data of the vehicle is obtained, so as to determine whether the vehicle is in a hill driving condition according to the related driving data of the vehicle. When the vehicle is in the hill driving condition, the target torque adjustment coefficient of each wheel of the vehicle and the maximum available torque of each wheel are obtained, the target output torque corresponding to each wheel is determined, and the target output torque of each wheel is input into a PID controller, so that the PID controller reasonably allocates the torque of each 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 ratio of each wheel of the vehicle changes within an acceptable range, the slip ratio of each wheel of the vehicle is accurately controlled, the problem that the slip ratio fluctuates greatly and affects the stability of the vehicle is reduced, the vehicle handling stability is enhanced, and each wheel is kept at the target output torque, so that the kinetic energy waste of the vehicle is effectively reduced and the cruising range of the vehicle is increased.

[0009] In some embodiments, obtaining the target torque adjustment coefficient of each wheel of the vehicle comprises: determining an input control amount of the PID controller; and inputting the input control amount 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 amount of the PID controller comprises: obtaining a wheel speed difference value between an ideal wheel speed of each wheel at an ideal slip ratio and an actual wheel speed of each wheel corresponding to a current actual slip ratio; and obtaining the input control amount according to the wheel speed difference value.

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

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

[0013] In some embodiments, before performing the PID control, the method further comprises: determining whether a condition for performing the PID control is met; if yes, performing the PID control; or if no, not performing the PID control.

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

[0015] In some embodiments, the way to obtain the maximum available torque of each wheel comprises:

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

[0017] wherein 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, and K R is a pre-calibrated adjustment coefficient.

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

[0019] In some embodiments, outputting a torque increase request flag or a torque decrease request flag according to the driving state of each wheel comprises: outputting the torque decrease request flag when the wheel slips; and outputting the torque increase request flag when the wheel brakes.

[0020] In some embodiments, 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, it further comprises: outputting a torque increase control request instruction or a torque decrease control request instruction according to the torque increase request flag or the torque decrease request flag, so as to control each wheel to increase or decrease torque to the corresponding target output torque according to the torque increase control request instruction or the torque decrease control request instruction.

[0021] In some embodiments, judging whether the vehicle is in a slope driving condition comprises: when the vehicle accelerator pedal opening is greater than or equal to a second preset opening, the road surface 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 the slope driving condition, otherwise, it is judged that the vehicle is not in the slope driving condition.

[0022] To achieve the above object, the embodiment of the second aspect of the present application proposes a torque control device, comprising: a judging module, configured to judge whether a vehicle is in a hill driving condition; an obtaining module, configured to obtain target torque adjustment coefficients of wheels of the vehicle and maximum available torques of the wheels when the vehicle is in the hill driving condition; a calculating module, configured to obtain target output torques corresponding to the wheels according to the maximum available torques of the wheels and the target torque adjustment coefficients; and a control module, configured to distribute torques to the wheels according to the target output torques of the wheels.

[0023] According to the torque control device of the embodiment of the present application, the driving states of the wheels of the vehicle in different driving conditions are monitored in real time by relevant sensors or controllers on the vehicle, and driving data of the vehicle is obtained, so as to judge whether the vehicle is in the hill driving condition according to the relevant driving data of the vehicle, obtain the target torque adjustment coefficients of the wheels of the vehicle and the maximum available torques of the wheels when the vehicle is in the hill driving condition, determine the target output torques corresponding to the wheels, input the target output torques of the wheels into a PID controller, and then the PID controller reasonably distributes the torques of the wheels according to the target output torques of the wheels, i.e. increases or reduces the torque of the motor, so that the slip rates of the wheels of the vehicle change in an acceptable range, the slip rates of the wheels of the vehicle are accurately controlled, the problem that the slip rate fluctuation greatly affects the stability of the vehicle is reduced, the stability of the vehicle is enhanced, and the wheels of the vehicle are kept at the target output torques, so that the kinetic energy of the vehicle is effectively reduced, and the cruising range of the vehicle is increased.

[0024] To achieve the above object, the embodiment of the third aspect of the present application proposes a vehicle, comprising: the torque control device as described in the above embodiment, or the vehicle comprises: a processor, a memory, and a torque control program stored in the memory and executable on the processor, and the torque control program is implemented when the processor is executed to realize the torque control method as described in the above embodiment.

[0025] The vehicle according to the embodiment of the present application, through the related sensors or controllers on the vehicle, monitors the driving state of each wheel of the vehicle in different driving conditions in real time, and obtains the driving data of the vehicle, so as to determine whether the vehicle is in the slope driving condition according to the related driving data of the vehicle, when the vehicle is in the slope driving condition, obtain the target torque adjustment coefficient of each wheel of the vehicle and the maximum available torque of each wheel, determine the target output torque corresponding to each wheel, input the target output torque of each wheel 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, adjusts the motor to increase or decrease the torque, so that the slip ratio of each wheel of the vehicle changes in an acceptable range, realizes the accurate control of the slip ratio of each wheel of the vehicle, reduces the problem that the large fluctuation of the slip ratio affects the stability of the vehicle operation, thereby enhancing the vehicle handling stability, and keeping each wheel at the target output torque, thereby effectively reducing the kinetic energy waste of the vehicle 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 application provides a computer readable storage medium, and the computer readable storage medium stores a torque control program. The torque control program is executed by a processor to implement the torque control method as described in the above-mentioned embodiment.

[0027] The computer readable storage medium according to the embodiment of the present application, when the torque control program stored thereon is executed by a processor, through the related sensors or controllers on the vehicle, monitors the driving state of each wheel of the vehicle in different driving conditions in real time, and obtains the driving data of the vehicle, so as to determine whether the vehicle is in the slope driving condition according to the related driving data of the vehicle, when the vehicle is in the slope driving condition, obtain the target torque adjustment coefficient of each wheel of the vehicle and the maximum available torque of each wheel, determine the target output torque corresponding to each wheel, input the target output torque of each wheel 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, adjusts the motor to increase or decrease the torque, so that the slip ratio of each wheel of the vehicle changes in an acceptable range, realizes the accurate control of the slip ratio of each wheel of the vehicle, reduces the problem that the large fluctuation of the slip ratio affects the stability of the vehicle operation, thereby enhancing the vehicle handling stability, and keeping each wheel at the target output torque, thereby effectively reducing the kinetic energy waste of the vehicle and increasing the cruising range of the vehicle.

[0028] Additional aspects and advantages of the present application will be made apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0029] The above and / or additional aspects and advantages of the present application will become apparent and more readily appreciated from the following description, taken in conjunction with the following drawings of which:

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

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

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

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

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

[0035] Reference signs: torque control device 2; judging module 21; obtaining module 22; calculating module 23; controlling module 24; vehicle 3; processor 100; memory 101; torque control program 102. DETAILED DESCRIPTION

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

[0037] The embodiments of the present application are described below in conjunction with Figure 1 and Figure 2 The torque control method of the embodiments of the present application is exemplified.

[0038] As shown in Figure 1 , the torque control method of the embodiments of the present application at least includes steps S1-S3.

[0039] Step S1, judging whether the vehicle is in a hill driving condition.

[0040] The hill driving condition is a driving state of the vehicle driving on a hill. By obtaining the motion state of the vehicle, it is convenient to judge whether the vehicle is in the hill driving condition, so as to determine whether the vehicle is in a slipping state.

[0041] In the embodiment, the driving state of the vehicle under different driving conditions can be monitored in real time by the relevant sensors or controllers on the vehicle, and the driving data of the vehicle is obtained, for example, the opening degree of the accelerator pedal of the vehicle, the road slope of the current road, and the vehicle speed. Whether the vehicle is in the slope driving condition is determined according to the above driving data. When the vehicle is in the slope driving condition, it is considered that the vehicle is easy to be in the slipping state, and the slip ratio of each wheel needs to be controlled to prevent the high slip ratio of the vehicle from threatening the safety of the user. Whether the vehicle is in the slope driving condition is determined according to the current driving data of the vehicle, so as to determine whether the wheels of the vehicle are in the slipping state. When the wheels of the vehicle are in the 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 ratio of each wheel of the vehicle.

[0042] In step S2, if yes, the target torque adjustment coefficient of each wheel of the vehicle and the maximum available torque of each wheel are obtained.

[0043] The target torque adjustment coefficient is the most favorable distribution coefficient of the torque adjustment of each wheel when the vehicle is in the slipping state, and the maximum available torque is the torque request that can be maximally utilized by each wheel when the vehicle is in the slipping state. By obtaining the above parameters, real-time monitoring of the vehicle itself and adaptive distribution of the torque of each wheel are realized, so that the vehicle can more effectively utilize the torque in the process of slipping, thereby improving the accuracy of the torque control of the vehicle.

[0044] In the embodiment, when the vehicle is in the slope driving condition, the driving state of the vehicle under different driving conditions can be monitored in real time by the relevant sensors or controllers on the vehicle, and the driving data of the vehicle is obtained, for example, the target torque adjustment coefficient of each wheel of the vehicle and the maximum available torque of each wheel. After the above parameters are obtained, the target output torque corresponding to each wheel is obtained according to the above parameters, so as to accurately control the slip ratio of each wheel.

[0045] In step S3, the target output torque corresponding to each wheel is obtained according to the maximum available torque of each wheel and the target torque adjustment coefficient of each wheel.

[0046] The target output torque is the torque request of the motor output 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 any one of the maximum available torque of each wheel and the target torque adjustment coefficient changes, and the target output torque is also different. The target output torque corresponding to each wheel is obtained according to the above parameters, so as to ensure that the output torque required by the vehicle at different times is not too large or too small, effectively reduce the waste of kinetic energy of the torque of the vehicle, and provide data support for reasonable allocation of the torque of each wheel of the vehicle.

[0047] In an embodiment, after determining the maximum available torque of each wheel and the target torque adjustment coefficient, the target output torque corresponding to each wheel is calculated and determined 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.

[0048] Step S4, distributing the torque to the corresponding wheel according to the target output torque of each wheel.

[0049] In an embodiment, after determining the target output torque of each wheel, the target output torque of each wheel is input into a PID (Proportional-Integral-Derivative) controller. The PID controller reasonably allocates the torque of the corresponding wheel when the vehicle is in a slipping state according to the target output torque, realizes accurate control of the slip rate of each wheel of the vehicle, for example, increases or reduces the torque of the motor of the wheel, ensures that each motor always maintains the target torque output, makes the slip rate of each wheel of the vehicle change within an acceptable range, reduces the problem that the large slip rate fluctuation affects the operation stability of the vehicle, thereby enhancing the steering stability of the vehicle and increasing the cruising range of the vehicle.

[0050] The vehicle in the embodiments of the present application can include two motors, three motors or four motors. The two-motor vehicle refers to a vehicle in which one motor is arranged on each of the front and rear axles, one of the motors drives the front axle alone, and the other motor drives the rear axle alone. The three-motor vehicle refers to a vehicle in which one axle is provided with two motors for driving the left and right wheels of the axle, respectively, and the other axle is provided with one motor for driving the left and right wheels of the axle. For example, the three-motor vehicle includes a rear axle with two motors and a front axle with one motor, or a front axle with two motors and a rear axle with one motor. In other words, the vehicle has three motors, one motor is arranged on the front axle for driving the front axle alone, and the other two motors are arranged on the rear axle for driving the left and right wheels of the rear axle, respectively; or one motor is arranged on the rear axle for driving the rear axle alone, and the other two motors are arranged on the front axle for driving the left and right wheels of the front axle, respectively. The four-motor vehicle refers to a vehicle provided with four motors, each motor drives one wheel, that is, the front axle is provided with two motors for driving the two wheels of the front axle, respectively, and the rear axle is provided with two motors for driving the two wheels of the rear axle, respectively, so that the independent control of the motors can be realized to improve the response speed of the vehicle, make the vehicle more flexible, and thus the ground adhesion can be fully utilized and the slip control can be realized, which is beneficial to improving the power and stability of the vehicle.

[0051] According to the torque control method, the driving states of the wheels of the vehicle under different driving conditions are monitored in real time by using related sensors or controllers on the vehicle, and the driving data of the vehicle are obtained, so as to determine whether the vehicle is in a slope driving condition according to the related driving data of the vehicle. When the vehicle is in the slope driving condition, the target torque adjustment coefficients of the wheels of the vehicle and the maximum available torques of the wheels are obtained, the target output torques corresponding to the wheels are determined, and the target output torques of the wheels are input into the PID controller, so that the PID controller reasonably allocates the torques of the corresponding wheels according to the target output torques of the wheels, that is, the motor is adjusted to increase or decrease the torque, so that the slip rates of the wheels of the vehicle change within an acceptable range, the slip rates of the wheels of the vehicle are accurately controlled, the problem that the large fluctuation of the slip rates affects the operation stability of the vehicle is reduced, the vehicle handling stability is enhanced, and the wheels are kept at the target output torques, so that the kinetic energy waste of the vehicle is effectively reduced, and the cruising range of the vehicle is increased.

[0052] In some embodiments, obtaining the target torque adjustment coefficients of the wheels of the vehicle includes: determining an input control amount of the PID controller; and inputting the input control amount into the PID controller to perform PID control to obtain the target torque adjustment coefficients of the wheels.

[0053] In embodiments, the driving state of the vehicle under different driving conditions can be monitored in real time by 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 amount of the PID controller according to the above parameters, that is, the target output torque corresponding to 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 amount, the determined input control amount is input into the PID controller. The PID controller performs traditional PID control according to the input control amount, and outputs the target torque adjustment coefficient in percentage form.

[0054] The calibration parameter of the manually resettable integrator in the PID controller is subjected to an "or" operation with the reset logic flag output by the reset logic. That is, when the calibration parameter is 0, if the reset logic flag is 0, the integrator is reset, and if the reset logic flag is 1, the integrator is not reset; when the calibration parameter is 1, the integrator is not reset; the calibration parameter is 0 by default. The upper and lower limits of the integrator are set by the calibration parameter.

[0055] The gain planning function in the PID controller differentiates the input control amount, performs low-pass filtering, and obtains the initial value of the proportional adjustment parameter kp and the initial value of the integral adjustment parameter ki by looking up the table with the friction coefficient. The two values are multiplied by the calibration parameter 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. This value is subjected to ±100% limit, that is, when it exceeds the ±100% limit, ±100% is output as the input amount of the final torque output module; when it does not exceed the ±100% limit, the percentage 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 under the ideal slip ratio and the actual wheel speed corresponding to each wheel under the current actual slip ratio; and obtaining the input control amount according to the wheel speed difference.

[0058] In an embodiment, according to the output vehicle speed and the friction coefficient under the current condition, the current ideal slip rate is obtained by looking up a table, and the ideal wheel speed under the ideal slip rate is calculated based on the ideal slip rate and the output vehicle speed under the current condition; 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 under the ideal slip rate and the actual wheel speed corresponding to the current actual slip rate of each wheel is calculated to obtain the wheel speed deviation value, and the wheel speed difference is taken as the input control quantity of the PID controller, and the PID controller performs traditional PID control based on gain scheduling according to the input control quantity, wherein the gain scheduling of the PID controller calculates the adjusted gain based on the current road surface friction coefficient and the wheel speed difference, and the default (basic) gain can be calibrated using the calibration parameter, and the target gain is calculated using the wheel speed difference.

[0059] In some embodiments, before obtaining the input control quantity according to the wheel speed difference, the wheel speed difference is further limited according to a preset deviation value threshold.

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

[0061] In some embodiments, limiting the wheel speed difference according to the preset deviation value threshold includes: if the wheel speed difference is less than the preset deviation value threshold, the wheel speed difference is determined to be zero; and if the wheel speed difference is greater than or equal to the preset deviation value threshold, the wheel speed difference is output.

[0062] In an embodiment, if the wheel speed difference is less than the 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 of the wheel speed difference calculation.

[0063] In some embodiments, before PID control is performed, it is further determined whether the condition for performing PID control is met; if yes, the PID control is performed, otherwise, the PID control is not performed.

[0064] In embodiments, the reset logic is an integrator responsible for enabling the calculation, component activation and resetting 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 performing PID control, which are determined by multiple limit modules and calibration values. For each condition, a delay function is set to avoid frequent changes. In addition, for conditions with both positive and negative values, there are two additional thresholds to allow coverage of two ranges (i.e., positive and negative ranges). Condition selection is achieved using Bit Mask and setting parameters, where parameter values can be changed, i.e., adjusted through conditions. If multiple conditions for performing PID control are met, the PID controller is controlled to perform PID control; if any of the multiple conditions for performing 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, the absolute value of the actual output torque of the vehicle motor is greater than or equal to a preset torque threshold, the absolute value of the vehicle speed is less than a first preset vehicle speed threshold, the current actual slip rate of the vehicle is greater than or equal to a preset slip rate threshold, and the vehicle is not in a braking state, it is determined that the condition for performing PID control is met.

[0066] In embodiments, the driving state of the vehicle under different driving conditions can be monitored in real time by relevant sensors or controllers on the vehicle, and driving data of the vehicle can be obtained, such as the vehicle accelerator pedal opening, 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. Determine the size relationship between the vehicle accelerator pedal opening and the first preset opening, and determine the size relationship between the absolute value of the actual output torque of the vehicle motor and the preset torque threshold, and determine the size relationship between the absolute value of the vehicle speed and the first preset vehicle speed threshold, and 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 the first preset opening, the absolute value of the actual output torque of the vehicle motor is greater than or equal to the preset torque threshold, i.e., the actual output torque of the vehicle motor is higher than the preset torque threshold in the positive value range or lower than the preset torque threshold in the negative value range, and the absolute value of the vehicle speed is less than the first preset vehicle speed threshold, i.e., the vehicle speed is lower than the preset torque threshold in the positive value range or higher than the preset torque threshold in the negative value 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 active flag, i.e., the vehicle is not in a braking state, it is considered that the vehicle meets the condition for performing PID control.

[0067] In some embodiments, the maximum available torque of each wheel is obtained in the following manner:

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

[0069] wherein 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, R tireR is the tire radius of each wheel, K R is the pre-labeled adjustment coefficient.

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

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

[0072] It should be noted that when the vehicle is in a driving state, the maximum available torque T maxR of each wheel is positive, and when the vehicle is in a reverse drag state, the maximum available torque T maxR of each wheel is negative. By calculating the maximum available torque T maxR of each wheel, the target output torque corresponding to each wheel can be calculated according to the maximum available torque T maxR of each wheel.

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

[0074] In embodiments, based on the driving state of each wheel, the current torque working range is determined, the positive and negative torque output limits of the actual positive and negative torque signals of the motor of each wheel are obtained, and a delay limit value judgment is made to output the corresponding flag. The flag value is ANDed with the flag value output by the reset logic to determine whether it is a torque increase request or a torque decrease request at this time, and a torque increase request flag or a torque decrease request flag is output. The flag output value can be selected by a calibration parameter to output a torque request or 0.

[0075] In some embodiments, the outputting the torque increase request flag or the torque decrease request flag according to the driving state of each wheel comprises: outputting the torque decrease request flag when the wheel slips; and outputting the torque increase request flag when the wheel brakes.

[0076] In an embodiment, when the wheel slips, the motor of the wheel is considered to be negative torque, and the torque decrease request flag 0 is outputted; when the wheel brakes, the motor of the wheel is considered to be positive torque, and the torque increase request flag 1 is outputted.

[0077] In some embodiments, after the target output torque corresponding to each wheel is obtained according to the maximum available torque of each wheel and the target torque adjustment coefficient of each wheel, the method further comprises: outputting the torque increase control request instruction or the torque decrease control request instruction according to the torque increase request flag or the torque decrease request flag, so as to control each wheel of the vehicle to increase or decrease torque to the corresponding target output torque according to the torque increase control request instruction or the torque decrease control request instruction.

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

[0079] In some embodiments, the method of determining whether the vehicle is in a hill driving condition comprises: when the accelerator pedal opening of the vehicle is greater than or equal to a second preset opening, the road slope of the current road 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 hill driving condition; otherwise, determining that the vehicle is not in a hill driving condition.

[0080] In the embodiment, the driving state of the vehicle in different driving conditions can be monitored in real time by the relevant sensors or controllers on the vehicle, and the driving data of the vehicle, such as the vehicle throttle pedal opening, the road slope of the current road, the vehicle speed, is obtained, the size relationship between the vehicle throttle pedal opening and the second preset opening is judged, the size relationship between the road slope of the current road and the preset angle is judged, and the size relationship between the vehicle speed and the second preset vehicle speed threshold is judged, when the vehicle throttle pedal opening is greater than or equal to the second preset opening, and the road slope of the current road is greater than or equal to the preset angle, and the vehicle speed is less than the second preset vehicle speed threshold, it is considered that the vehicle is in the hill driving condition, if any one of the above parameters does not meet the condition, it is considered that the vehicle is not in the hill driving condition, wherein the second preset opening, the preset angle and the second preset vehicle speed threshold contain a delay function, for example, when the vehicle throttle pedal opening is greater than or equal to the second preset opening, the output value is 1; when the vehicle throttle pedal opening is reduced from greater than the second preset opening to equal to the second preset opening, the output value is still 1; when the vehicle throttle pedal opening is less than the second preset opening, the output value becomes 0. If the road slope of the current road is greater than or equal to the preset angle, the output value is 1; if the road slope of the current road is reduced 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 is less than the preset angle, the output value becomes 0, and the output value enters low-pass filtering. When the vehicle speed is less than the second preset vehicle speed threshold, the output value is 1; when the vehicle speed is greater than or equal to the second preset vehicle speed threshold, the output value is 0.

[0081] Reference will now be made to Figure 2 The torque control method of the embodiment of the application is exemplified.

[0082] As Figure 2 shown, the torque control method of the embodiment of the application at least includes steps S11-S24.

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

[0084] Step S12, the wheel speed difference value between the ideal wheel speed of each wheel at the ideal slip ratio and the actual wheel speed corresponding to the current actual slip ratio of each wheel is obtained.

[0085] Step S13, it is judged whether the wheel speed difference value is less than the preset deviation value threshold, if yes, step S15 is executed; if no, step S14 is executed.

[0086] Step S14, the wheel speed difference value is output.

[0087] Step S15, the wheel speed difference value is determined to be zero.

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

[0089] Step S17, when the vehicle throttle pedal opening is greater than or equal to the first preset opening, the absolute value of the actual output torque of the vehicle motor is greater than or equal to the preset torque threshold, the absolute value of the vehicle speed is less than the first preset vehicle speed threshold, 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 the braking state, it is judged that the conditions for PID control are met.

[0090] Step S18, inputting the input control amount 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, outputting a torque reduction request flag.

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

[0095] Step S23, when the wheel brakes, outputting a torque increase request flag.

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

[0097] According to the torque control method of the embodiment of the application, the driving state of each wheel of the vehicle under different driving conditions is monitored in real time by related sensors or controllers on the vehicle, and the driving data of the vehicle is obtained, so as to determine whether the vehicle is in the slope driving condition according to the related driving data of the vehicle. When the vehicle is in the slope driving condition, the target torque adjustment coefficient of each wheel of the vehicle and the maximum available torque of each wheel are obtained, 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 reduce the torque, so that the slip rate of each wheel of the vehicle varies within an acceptable range, the precise control of the slip rate of each wheel of the vehicle is realized, the problem of affecting the stability of the vehicle operation due to large slip rate fluctuation is reduced, the vehicle handling stability is enhanced, and each wheel is kept at the target output torque, thereby effectively reducing the kinetic energy waste of the vehicle and increasing the cruising range of the vehicle.

[0098] The application will be described below with reference to Figure 3 The torque control device 2 of the embodiment of the application is described.

[0099] As Figure 3 shown, the torque control device 2 of the embodiment of the application comprises a judging module 21, an obtaining module 22, a calculating module 23 and a controlling module 24, wherein,

[0100] The judging module 21 is configured to judge whether the vehicle is in a hill driving condition; the obtaining module 22 is configured to obtain target torque adjustment coefficients of each wheel of the vehicle and maximum available torques of each wheel of the vehicle when the vehicle is in the hill driving condition; the calculating module 23 is configured to obtain target output torques corresponding to each wheel according to the maximum available torques of each wheel and the target torque adjustment coefficients of each wheel; and the controlling module 24 is configured to distribute torques to corresponding wheels according to the target output torques of each wheel.

[0101] In the embodiment, the judging 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 driving data of the vehicle, for example, the opening degree of the accelerator pedal of the vehicle, the road slope of the current road, the vehicle speed, and judge whether the vehicle is in the hill driving condition according to the above driving data. When the vehicle is in the hill driving condition, it is considered that the vehicle is prone to be in a slipping state, and therefore the slip ratio of each wheel needs to be controlled to prevent the high slip ratio of the vehicle from threatening the safety of the user. By judging whether the vehicle is in the hill 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 coefficients corresponding to each wheel and the maximum available torques of each wheel are obtained, and then the target output torques corresponding to each wheel are calculated, so as to control the vehicle to reasonably distribute torques to corresponding wheels of the vehicle according to the target output torques of each wheel, so as to reduce the slip ratio of each wheel of the vehicle. The hill driving condition is a driving state in which the vehicle drives on a slope. By obtaining the motion state of the vehicle, it is convenient to judge whether the vehicle is in the hill 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 in different driving conditions in real time through relevant sensors or controllers on the vehicle, and acquire 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 acquiring 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. The target torque adjustment coefficient is the most favorable distribution coefficient of the torque adjustment of each wheel when the vehicle is in a slipping state, and the maximum available torque is the torque request that can be maximally utilized by each wheel when the vehicle is in a slipping state. By acquiring the above parameters, real-time monitoring of the vehicle itself and adaptive distribution of the torque of each wheel are realized, so that the vehicle can more effectively utilize the torque in the process of vehicle slipping, 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. 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 any one of the maximum available torque of each wheel and the target torque adjustment coefficient changes, and the target output torque is also different. The target output torque corresponding to each wheel is obtained according to the above parameters, so as to ensure that the output torque required by the vehicle at different times of driving is not too large or too small, effectively reduce the waste of kinetic energy of the torque of the vehicle, and provide data support for reasonable distribution of the torque of each wheel of the vehicle.

[0104] The control module 24 inputs the target output torque of each wheel into the PID controller, and the PID controller reasonably distributes the torque of the corresponding wheel when the vehicle is in a slipping state according to the target output torque, so as to accurately control the slip rate of each wheel of the vehicle, for example, to increase or decrease the torque of the motor of the wheel, so that each motor always maintains the target torque output, so that the slip rate of each wheel of the vehicle changes within an acceptable range, reduces the problem that the large slip rate fluctuation affects the operation stability of the vehicle, thereby enhancing the steering stability of the vehicle and increasing the cruising range of the vehicle.

[0105] The torque control device 2 according to the embodiment of the present application, through the related sensors or controllers on the vehicle, monitors the driving state of each wheel of the vehicle in different driving conditions in real time, and obtains the driving data of the vehicle, so as to determine whether the vehicle is in the hill driving condition according to the related driving data of the vehicle. When the vehicle is in the hill driving condition, the target torque adjustment coefficient of each wheel of the vehicle and the maximum available torque of each wheel are obtained, the target output torque corresponding to each wheel is determined, and the target output torque of each wheel is input into the PID controller. Therefore, 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 ratio of each wheel of the vehicle changes within an acceptable range, the slip ratio of each wheel of the vehicle is accurately controlled, the problem of large slip ratio fluctuation affecting the operation stability of the vehicle is reduced, the vehicle handling stability is enhanced, and each wheel is kept at the target output torque, thereby effectively reducing the kinetic energy waste of the vehicle and increasing the cruising range of the vehicle.

[0106] In some embodiments, when the obtaining module 22 obtains the target torque adjustment coefficient of each wheel of the vehicle, the input control quantity of the PID controller is determined, and the input control quantity is input into the PID controller to perform PID control to obtain the target torque adjustment coefficient of each wheel.

[0107] In some embodiments, when the obtaining module 22 determines the input control quantity of the PID controller, the wheel speed difference between the ideal wheel speed of each wheel at the ideal slip ratio and the actual wheel speed corresponding to each wheel at the current actual slip ratio is obtained, and the input control quantity is obtained according to the wheel speed difference.

[0108] In some embodiments, before the obtaining module 22 obtains the input control quantity according to the wheel speed difference, the wheel speed difference is limited according to a preset deviation threshold.

[0109] In some embodiments, when the obtaining module 22 limits the wheel speed difference according to the preset deviation threshold, if the wheel speed difference is less than the preset deviation threshold, the wheel speed difference is determined to be zero, and if the wheel speed difference is greater than or equal to the preset deviation threshold, the wheel speed difference is output.

[0110] In some embodiments, before the obtaining module 22 performs PID control, it is further used to determine whether the condition for performing PID control is met, and if so, PID control is performed, otherwise, PID control is not performed.

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

[0112] In some embodiments, the obtaining module 22 obtains the maximum available torque of each wheel, specifically for:

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

[0114] wherein 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, and K R is a pre-calibrated adjustment coefficient.

[0115] In some embodiments, the calculation module 23, after performing PID control, is further specifically configured 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 decrease request flag according to the driving state of each wheel, it is specifically configured to: when the wheel slips, output a torque decrease request flag; and when the wheel brakes, output a torque increase request flag.

[0117] In some embodiments, after the calculation module 23 obtains 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, it is further specifically configured to: output a torque increase control request instruction or a torque decrease control request instruction according to the torque increase request flag or the torque decrease request flag, so as to control the torque of each wheel of the vehicle to increase or decrease to the corresponding target output torque according to the torque increase control request instruction or the torque decrease control request instruction.

[0118] In some embodiments, the determination module 21 determines whether the vehicle is in a hill driving condition, including: when the vehicle accelerator pedal opening is greater than or equal to a second preset opening, the road surface 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 determined that the vehicle is in a hill driving condition, otherwise, it is determined that the vehicle is not in a hill driving condition.

[0119] The torque control device 2 according to the embodiment of the present application, through the related sensors or controllers on the vehicle, monitors the driving state of each wheel of the vehicle in different driving conditions in real time, and obtains the driving data of the vehicle, so as to determine whether the vehicle is in the hill driving condition according to the related driving data of the vehicle. When the vehicle is in the hill driving condition, the target torque adjustment coefficient of each wheel of the vehicle and the maximum available torque of each wheel are obtained, 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 ratio of each wheel of the vehicle changes in an acceptable range, the precise control of the slip ratio of each wheel of the vehicle is realized, the problem that the large fluctuation of the slip ratio affects the operation stability of the vehicle is reduced, the vehicle handling stability is enhanced, and each wheel is kept at the target output torque, so as to effectively reduce the kinetic energy waste of the vehicle and increase the cruising range of the vehicle.

[0120] The vehicle 3 according to the embodiment of the present application will be described below with reference to Figure 4 and Figure 5 The vehicle 3 according to the embodiment of the present application will be described below with reference to

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

[0122] In some embodiments, as shown in Figure 5 , the vehicle 3 according to the embodiment of the present application comprises a processor 100, a memory 101, and a torque control program 102 stored in the memory 101 and executable on the processor 100. The torque control program 102, when executed by the processor 100, implements the torque control method according to the above embodiments.

[0123] The vehicle 3 according to the embodiment of the present application, through the related sensors or controllers on the vehicle, monitors the driving state of each wheel of the vehicle in different driving conditions in real time, and obtains the driving data of the vehicle, so as to determine whether the vehicle is in the hill driving condition according to the related driving data of the vehicle. When the vehicle is in the hill driving condition, the target torque adjustment coefficient of each wheel of the vehicle and the maximum available torque of each wheel are obtained, the target output torque corresponding to each wheel is determined, and the target output torque of each wheel is input into the PID controller. Thus, 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 ratio of each wheel of the vehicle changes within an acceptable range, the slip ratio of each wheel of the vehicle is accurately controlled, the problem that the large fluctuation of the slip ratio affects the operation stability of the vehicle is reduced, the vehicle handling stability is enhanced, and each wheel is kept at the target output torque, so that the kinetic energy of the vehicle is effectively reduced, and the cruising range of the vehicle is increased.

[0124] The computer readable storage medium according to the embodiment of the present application is described below.

[0125] The computer readable storage medium according to the embodiment of the present application stores a torque control program, and the torque control program is executed by the processor to realize the torque control method according to any one of the above embodiments of the present application.

[0126] The computer readable storage medium according to the embodiment of the present application stores a torque control program, and the torque control program is executed by the processor to realize the torque control method according to any one of the above embodiments of the present application.

[0127] In the description of the specification, reference to "one embodiment", "some embodiments", "an exemplary embodiment", "an example", "a specific example", or "some examples" means that a particular feature, structure, material, or characteristic being described is included in at least one embodiment or example of the application. The appearances of the phrases "in one embodiment", "in some embodiments", "in an exemplary embodiment", "an example", "a specific example", or "some examples" in various places in the specification are not necessarily referring to the same embodiment or example.

[0128] While embodiments of the application have been shown and described, it is to be understood that the application is not limited to these embodiments. Rather, it is the intention that modifications, changes, substitutions, and variations be made to the embodiments in keeping with the principles and spirit of the application. The scope of the application is to be limited only by the claims and their equivalents.

Claims

1. A torque control method characterized by, The method comprises the following steps: determining whether the vehicle is in a hill driving condition; if so, obtaining target torque adjustment coefficients of each wheel of the vehicle and maximum available torques of each wheel of the vehicle, wherein the obtaining of the target torque adjustment coefficients of each wheel of the vehicle comprises: obtaining a wheel speed difference value between an ideal wheel speed of each wheel of the vehicle at an ideal slip ratio and an actual wheel speed corresponding to each wheel of the vehicle at a current actual slip ratio, inputting the wheel speed difference value as an input control quantity into a PID controller to perform PID control, and obtaining the target torque adjustment coefficients of each wheel of the vehicle; obtaining target output torques corresponding to each wheel of the vehicle according to the maximum available torques of each wheel of the vehicle and the target torque adjustment coefficients of each wheel of the vehicle; and allocating torques to corresponding wheels according to the target output torques of each wheel.

2. The torque control method according to claim 1, characterized by, Before the input control quantity is obtained according to the wheel speed difference value, the method further comprises: limiting the wheel speed difference value according to a preset deviation value threshold.

3. The torque control method according to claim 2, characterized by, The limiting of the wheel speed difference value according to the preset deviation value threshold comprises: if the wheel speed difference value is less than the preset deviation value threshold, determining that the wheel speed difference value is zero; if the wheel speed difference value is greater than or equal to the preset deviation value threshold, outputting the wheel speed difference value.

4. The torque control method according to claim 1, characterized by, Before the PID control is performed, the method further comprises: determining whether a condition for performing the PID control is met; if so, performing the PID control, otherwise, not performing the PID control.

5. The torque control method according to claim 4, characterized by, The condition for performing the PID control is met when the vehicle accelerator pedal opening degree is greater than or equal to a first preset opening degree, the absolute value of the actual output torque of the vehicle motor is greater than or equal to a preset torque threshold, the absolute value of the vehicle speed is less than a first preset vehicle speed threshold, the current actual slip ratio of the vehicle is greater than or equal to a preset slip ratio threshold, and the vehicle is not in a braking state.

6. The torque control method of claim 1, wherein The manner of obtaining the maximum available torques of each wheel comprises: T maxR = WL R * f * R tireR * K R wherein T maxR is the maximum available torque of each of the wheels; WL R is the wheel load of each of the wheels, f is the friction coefficient of the current road surface, R tireR is the tire radius of each of the wheels, K R is a pre-calibrated adjustment coefficient.

7. The torque control method of claim 1, wherein After the PID control is performed, the method further comprises: outputting a torque increase request flag or a torque decrease request flag according to the driving state of each wheel.

8. The torque control method according to claim 7, characterized by, The outputting of the torque increase request flag or the torque decrease request flag according to the driving state of each wheel comprises: correspondingly outputting the torque decrease request flag when the wheel slips; correspondingly outputting the torque increase request flag when the wheel brakes.

9. The torque control method according to claim 7, characterized by, After the target output torques corresponding to each wheel of the vehicle are obtained according to the maximum available torques of each wheel of the vehicle and the target torque adjustment coefficients of each wheel of the vehicle, the method further comprises: correspondingly outputting a torque increase control request instruction or a torque decrease control request instruction according to the torque increase request flag or the torque decrease request flag, so as to correspondingly control each wheel to increase torque or decrease torque to the target output torque corresponding to each wheel according to the torque increase control request instruction or the torque decrease control request instruction.

10. The torque control method of claim 1, wherein, The determining of whether the vehicle is in a hill driving condition comprises: determining that the vehicle is in the hill driving condition when the vehicle accelerator pedal opening degree is greater than or equal to a second preset opening degree, the road slope of the current road is greater than or equal to a preset angle, and the vehicle speed is less than a second preset vehicle speed threshold, otherwise, determining that the vehicle is not in the hill driving condition.

11. A vehicle characterized by comprising: The method comprises: a processor, a memory, and a torque control program stored on the memory and executable on the processor, the torque control program, when executed by the processor, implementing the torque control method of any one of claims 1-10.

12. A computer-readable storage medium, characterized in that, a computer readable storage medium having stored thereon a torque control program, the torque control program, when executed by a processor, implementing the torque control method of any one of claims 1-10.

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