Torque distribution method and device, vehicle and computer readable storage medium

Abstract

The invention provides a torque distribution method and device, a vehicle and a computer readable storage medium. The torque distribution method comprises the steps that the output torque of a wheel at the last moment and the additional torque of the wheel are obtained; obtaining a target output torque of the wheel according to the output torque of the wheel at the previous moment and the additional torque of the wheel; and carrying out torque distribution on wheels according to the target output torque. The target output torque of the wheels can be obtained according to the output torque of the wheels at the last moment and the additional torque of the wheels, and therefore reasonable torque distribution is conducted on the wheels, it is guaranteed that the vehicle yawing moves in the expected state, the stability and safety of the vehicle running state are improved, and the driving safety of the vehicle is improved. And the maneuverability of the driver to the vehicle is ensured.

Description

Technical Field

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

[0002] When a vehicle is driving under different operating conditions, the road conditions or other factors that affect driving stability may cause the vehicle to temporarily lose control, which may easily lead to traffic accidents. Therefore, it is crucial to ensure the stability of the vehicle body during driving.

[0003] For most vehicles currently, the torque between the left and right rear wheels is evenly distributed. The body cannot be controlled by increasing or decreasing the torque. When maintaining body stability, the Electronic Stabilization Program (ESP) is mainly used to control the vehicle's braking to adjust the body posture when the vehicle temporarily loses control, so that the vehicle can move within a reasonable range, thereby ensuring body stability.

[0004] However, braking cannot effectively adjust all unexpected driving conditions. Therefore, the above method of controlling the vehicle's braking to adjust to unexpected driving conditions is less effective, and the vehicle body cannot react correctly in time. The adjustment method is relatively simple, and the braking control is not stable, resulting in poor vehicle maneuverability and stability, affecting driving safety. Summary of the invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0006] To this end, an object of the present invention is to propose a torque distribution method, which can calculate the target output torque of the wheel based on the output torque of the wheel at a previous moment and the additional torque of the wheel, and reasonably distribute the torque to the wheel accordingly, so as to ensure that the vehicle itself moves sideways in an expected state, thereby improving the stability and safety of the vehicle's driving state and ensuring the driver's control over the vehicle.

[0007] To this end, a second objective of the present invention is to provide a torque distribution device.

[0008] To this end, a third object of the present invention is to provide a vehicle.

[0009] To this end, a fourth object of the present invention is to provide a computer-readable storage medium.

[0010] In order to achieve the above-mentioned purpose, an embodiment of the first aspect of the present invention proposes a torque distribution method, which includes: obtaining the output torque of the wheel at a previous moment and the additional torque of the wheel; obtaining the target output torque of the wheel according to the output torque of the wheel at a previous moment and the additional torque of the wheel; and distributing torque to the wheel according to the target output torque.

[0011] According to the torque distribution method of the embodiment of the present invention, the driving state of the wheel is monitored in real time to obtain the driving data of the wheel, such as the output torque of the wheel at a previous moment and the additional torque of the wheel. The target output torque of the wheel is calculated according to the output torque of the wheel at a previous moment and the additional torque of the wheel, so as to control the vehicle to distribute the torque to the wheel according to the target output torque, that is, to distribute the torque to the left rear wheel and the right rear wheel of the rear axle of the vehicle according to the target output torque, or to distribute the torque to the left front wheel and the right front wheel of the front axle of the vehicle according to the target output torque, thereby achieving reasonable torque distribution to the wheels, thereby ensuring that the vehicle itself moves sideways in the expected state, thereby improving the stability and safety of the vehicle's driving state, and ensuring the driver's maneuverability of the vehicle.

[0012] In some embodiments, the target output torque of the wheel is obtained based on the output torque of the wheel at a previous moment and the additional torque of the wheel, including: calculating the target output torque of the wheel based on the difference between the output torque of the wheel at a previous moment and the additional torque of the wheel.

[0013] In some embodiments, obtaining the output torque of the wheel at a previous moment includes: obtaining front and rear axle torque requests of the vehicle, and determining the output torque of the wheel at a previous moment according to the front and rear axle torque requests.

[0014] In some embodiments, obtaining the additional torque of the wheel includes: obtaining a target yaw moment of the vehicle, a dynamic radius of the wheel, a wheelbase of an axle on which the wheel is located, and an axle speed ratio of the axle on which the wheel is located; and calculating the additional torque based on the target yaw moment, the dynamic radius of the wheel, the wheelbase of an axle on which the wheel is located, and an axle speed ratio of the axle on which the wheel is located.

[0015] In some embodiments, the additional torque includes a right wheel additional torque, and calculating the right wheel additional torque includes:

[0016]

[0017] Among them, M fr is the additional torque of the right wheel, M z，req is the target yaw moment of the vehicle, R ri is the dynamic radius of the right wheel, t w is the wheelbase of the right wheel axle, iem，ri is the shaft speed ratio of the shaft where the right wheel is located.

[0018] In some embodiments, the additional torque includes a right wheel additional torque, and calculating the right wheel additional torque includes:

[0019]

[0020] Among them, M fr is the additional torque of the right wheel, M z，req is the target yaw moment of the vehicle, R ri is the dynamic radius of the right wheel of the wheel axle, t w is the wheelbase of the axle where the wheel is located, i em，ri is the right axle speed ratio.

[0021] In some embodiments, the target output torque includes a left wheel target output torque and a right wheel target output torque, and torque is distributed to the wheels according to the target output torque, including: distributing torque to the left wheel of the vehicle according to the left wheel target output torque, and distributing torque to the right wheel of the vehicle according to the right wheel target output torque.

[0022] In order to achieve the above-mentioned purpose, an embodiment of the second aspect of the present invention proposes a torque distribution device, which includes: an acquisition module, used to obtain the output torque of the wheel at a previous moment and the additional torque of the wheel; a calculation module, used to obtain the target output torque of the wheel based on the output torque of the wheel at a previous moment and the additional torque of the wheel; and a control module, used to distribute torque to the wheel according to the target output torque.

[0023] According to the torque distribution device of the embodiment of the present invention, the driving state of the wheel is monitored in real time to obtain the driving data of the wheel, such as the output torque of the wheel at a previous moment and the additional torque of the wheel. The target output torque of the wheel is calculated according to the output torque of the wheel at a previous moment and the additional torque of the wheel, so as to control the vehicle to distribute the torque to the wheel according to the target output torque, that is, to distribute the torque to the left rear wheel and the right rear wheel of the rear axle of the vehicle according to the target output torque, or to distribute the torque to the left front wheel and the right front wheel of the front axle of the vehicle according to the target output torque, thereby achieving reasonable torque distribution to the wheels, thereby ensuring that the vehicle itself moves sideways in an expected state, thereby improving the stability and safety of the vehicle's driving state, and ensuring the driver's maneuverability 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 distribution device as described in the above-mentioned embodiment; or, a processor, a memory, and a torque distribution program stored in the memory and executable on the processor, wherein the torque distribution program implements the torque distribution method as described in the above-mentioned embodiment when executed by the processor.

[0025] According to the vehicle of the embodiment of the present invention, the driving state of the wheel is monitored in real time to obtain the driving data of the wheel, such as the output torque of the wheel at a previous moment and the additional torque of the wheel, and the target output torque of the wheel is calculated according to the output torque of the wheel at a previous moment and the additional torque of the wheel, so as to control the vehicle to distribute torque to the wheel according to the target output torque, that is, to distribute torque to the left rear wheel and the right rear wheel of the rear axle of the vehicle according to the target output torque, or to distribute torque to the left front wheel and the right front wheel of the front axle of the vehicle according to the target output torque, thereby achieving reasonable torque distribution to the wheels, thereby ensuring that the vehicle itself moves sideways in an expected state, thereby improving the stability and safety of the vehicle's driving state, and ensuring the driver's maneuverability 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 distribution program is stored. When the torque distribution program is executed by a processor, the torque distribution method as described in the above-mentioned embodiment is implemented.

[0027] According to the computer-readable storage medium of an embodiment of the present invention, when the torque distribution program stored thereon is executed by the processor, the driving state of the wheel is monitored in real time to obtain the driving data of the wheel, such as the output torque of the wheel at a previous moment and the additional torque of the wheel, and the target output torque of the wheel is calculated according to the output torque of the wheel at a previous moment and the additional torque of the wheel, so as to control the vehicle to distribute torque to the wheel according to the target output torque, that is, to distribute torque to the left rear wheel and the right rear wheel of the rear axle of the vehicle according to the target output torque, or to distribute torque to the left front wheel and the right front wheel of the front axle of the vehicle according to the target output torque, thereby achieving reasonable torque distribution to the wheels, thereby ensuring that the vehicle itself moves sideways in the expected state, thereby improving the stability and safety of the vehicle's driving state, and ensuring the driver's maneuverability of the vehicle.

[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 distribution method according to an embodiment of the present invention;

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

[0032] Figure 3 is a structural block diagram of a torque distribution 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 distribution device 2 ; acquisition module 21 ; calculation module 22 ; control module 23 ; vehicle 3 ; processor 100 ; memory 101 ; torque distribution 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 distribution method according to the embodiment of the present invention is described with examples.

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

[0039] Step S1, obtaining the output torque of the wheel at the last moment and the additional torque of the wheel.

[0040] Among them, the output torque of the wheel at the last moment is the total torque request of the axle when no yaw moment is added, and the additional torque of the wheel is the total torque request of the axle when the yaw moment is added. Specifically, the driving state of the wheel can be monitored in real time by the relevant sensors set in the vehicle, and the driving data of the wheel, such as the output torque of the wheel at the last moment, can be obtained. The output torque at the last moment is defined relative to the current moment of the vehicle, that is, the output torque corresponding to the last moment of the current driving moment of the vehicle is the output torque of the wheel at the last moment. It can be understood that the above parameters will change according to the different motion states of the wheels.

[0041] On the other hand, the vehicle controller can calculate the additional torque of the wheel based on the vehicle-related parameters, and then obtain the calculated additional torque of the wheel from the vehicle controller, which is beneficial to obtain the target output torque of the wheel based on the output torque of the wheel at the previous moment and the additional torque of the wheel, and then reasonably distribute the torque to the wheel according to the target output torque.

[0042] Step S2, obtaining a target output torque of the wheel according to the output torque of the wheel at a previous moment and the additional torque of the wheel.

[0043] Among them, the target output torque of the wheel is the motor torque request after redistribution, that is, the output torque obtained by adding the additional torque to the output torque of the wheel at a previous moment. If any one of the parameters of the output torque of the wheel at a previous moment and the additional torque of the wheel changes, the target output torque of the corresponding wheel will be different. By determining the target output torque of the wheel according to the above parameters, it can be ensured that the target output torque required by the vehicle at different times of driving will not be too small or too large, thereby providing data support for the reasonable distribution of wheel torque. Therefore, the wheel torque can be reasonably distributed under different circumstances, realizing real-time monitoring of the vehicle itself and adaptive distribution of wheel torque, so that the vehicle itself moves sideways in the expected state, ensuring the stability and safety of the vehicle state and the maneuverability of the driver.

[0044] In an embodiment, after obtaining the output torque of the wheel at a previous moment and the additional torque of the wheel, the target output torque of the wheel is determined based on the output torque of the wheel at a previous moment and the additional torque of the wheel, so as to perform targeted torque distribution on the wheel according to the target output torque.

[0045] Step S3: Distribute torque to the wheels according to the target output torque.

[0046] In an embodiment, after obtaining the target output torque of the wheels, torque is distributed to the wheels of the vehicle according to the target output torque, for example, torque is distributed to the left front wheel and the right front wheel of the front axle of the vehicle according to the target output torque, or torque is distributed to the left rear wheel and the right rear wheel of the rear axle of the vehicle according to the target output torque, so as to change the yaw state of the vehicle itself so that the vehicle itself moves in an expected yaw state, thereby ensuring the stability, safety and driver maneuverability of the vehicle state.

[0047] The vehicle in the embodiment of the present invention may include three motors or four motors. A three-motor vehicle is a vehicle in which one axle is provided with two motors, which are respectively used to drive the left and right wheels corresponding to the axle, and the other axle is provided with one motor, which is used to drive the left and right wheels corresponding to the axle. A three-motor vehicle includes, for example: a rear axle with two motors and a front axle with a single motor, or a front axle with two motors and a rear axle with a single motor. 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 in which four motors are provided, each of which drives one wheel respectively, that is, the front axle is provided with two motors to drive the two wheels of the front axle respectively, and the rear axle is provided with two motors to drive the two wheels of the rear axle respectively, thereby realizing independent control of the motors 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 realized, which is conducive to improving the power and stability of the vehicle.

[0048] According to the torque distribution method of the embodiment of the present invention, the driving state of the wheel is monitored in real time to obtain the driving data of the wheel, such as the output torque of the wheel at a previous moment and the additional torque of the wheel. The target output torque of the wheel is calculated according to the output torque of the wheel at a previous moment and the additional torque of the wheel, so as to control the vehicle to distribute the torque to the wheel according to the target output torque, that is, to distribute the torque to the left rear wheel and the right rear wheel of the rear axle of the vehicle according to the target output torque, or to distribute the torque to the left front wheel and the right front wheel of the front axle of the vehicle according to the target output torque, thereby achieving reasonable torque distribution to the wheels, thereby ensuring that the vehicle itself moves sideways in the expected state, thereby improving the stability and safety of the vehicle's driving state, and ensuring the driver's maneuverability of the vehicle.

[0049] In some embodiments, obtaining a target output torque of the wheel according to the output torque of the wheel at a previous moment and the additional torque of the wheel includes: calculating the target output torque of the wheel according to the difference between the output torque of the wheel at a previous moment and the additional torque of the wheel.

[0050] In an embodiment, after obtaining the output torque of the wheel at the last moment and the additional torque of the wheel, the difference between the output torque of the wheel at the last moment and the additional torque of the wheel is calculated, and the difference between the output torque of the wheel at the last moment and the additional torque of the wheel is used as the target output torque of the wheel, so as to distribute torque to the wheel according to the target output torque, thereby improving the stability and safety of vehicle handling.

[0051] In some embodiments, obtaining the output torque of the wheel at a previous moment includes: obtaining front and rear axle torque requests of the vehicle, and determining the output torque of the wheel at a previous moment according to the front and rear axle torque requests.

[0052] In an embodiment, the driving state of the wheels can be monitored in real time by relevant sensors or controllers on the vehicle to obtain the front and rear axle torque requests of the vehicle, that is, the front axle torque request and the rear axle torque request, and then the total torque request of the axle when the wheel is not subjected to yaw torque is obtained according to the front and rear axle torque requests, that is, the output torque of the wheel at a previous moment, for example, M em，r , by determining the output torque M of the wheel at the previous moment em，r , which is convenient for the vehicle controller to calculate the output torque M of the wheel at the last moment em，r A comprehensive evaluation is performed to obtain the target output torque of the wheel. Specifically, the total torque request of the axle where the wheel is located when no yaw moment is added can be obtained according to the sum of the front axle torque request and the rear axle torque request, that is, the output torque of the wheel at the last moment.

[0053] In some embodiments, obtaining the additional torque of the wheel includes: obtaining a target yaw moment of the vehicle, a dynamic radius of the wheel, a wheelbase of an axle on which the wheel is located, and an axle speed ratio of the axle on which the wheel is located; and calculating the additional torque based on the target yaw moment, the dynamic radius of the wheel, the wheelbase of an axle on which the wheel is located, and an axle speed ratio of the axle on which the wheel is located.

[0054] In an embodiment, the driving state of the wheel can be monitored in real time by a sensor installed on the wheel, and the driving data of the wheel can be obtained accordingly, such as the target yaw moment of the vehicle, which is recorded as M z，req , the dynamic radius of the wheel, and the wheelbase of the axle on which the wheel is located, for example, denoted as t w The dynamic radius of the wheel includes the dynamic radius of the left rear wheel of the vehicle, which is recorded as R. le and the dynamic radius of the right rear wheel of the vehicle, for example, denoted as R ri The axle speed ratio of the wheel axle includes the axle speed ratio of the left rear wheel of the vehicle, for example, denoted as i em，le and the right wheel axle speed ratio of the vehicle is denoted as i em，ri After obtaining the above parameters, the additional torque of the wheel is calculated according to the above parameters. By calculating the additional torque of the wheel, the vehicle controller can make a comprehensive evaluation based on the additional torque of the wheel to obtain the target output torque of the wheel.

[0055] In some embodiments, the additional torque includes a left wheel additional torque, and calculating the left wheel additional torque includes:

[0056]

[0057] Among them, M fl is the additional torque of the left wheel, M z，req is the target yaw moment of the vehicle, R le is the dynamic radius of the left wheel, tw is the wheelbase of the left wheel, t em，le is the axle speed ratio of the left wheel, and the target yaw moment of the vehicle is M z，req Additional yaw moment for torque vectoring function.

[0058] In the embodiment, the target yaw moment M of the vehicle is obtained. z，req , the dynamic radius R of the left wheel le , wheelbase of the left wheel axle t w The speed ratio of the left wheel to the shaft is i em，le Calculate the additional torque M of the left wheel fl , that is, the additional torque M of the left wheel fl The calculation formula is as follows:

[0059]

[0060] By calculating the additional torque M of the left wheel fl , which is convenient for the vehicle controller to adjust the left wheel additional torque M fl Determine the additional torque of the vehicle.

[0061] In some embodiments, the additional torque includes a right wheel additional torque, and calculating the right wheel additional torque includes:

[0062]

[0063] Among them, M fr Additional torque for the right wheel, M z，req is the target yaw moment of the vehicle, R ri is the dynamic radius of the right wheel, t w is the wheelbase of the right wheel axle, i em，ri is the axle speed ratio of the right wheel, and the target yaw moment of the vehicle is M z，req Additional yaw moment for torque vectoring function.

[0064] In the embodiment, the target yaw moment M of the vehicle is obtained. z，req , dynamic radius R of the right wheel ri , wheelbase of the right wheel axle t w The speed ratio i of the right wheel shaft em，ri Calculate the additional torque M of the right wheel fr , that is, the additional torque M of the right wheel fr The calculation formula is as follows:

[0065]

[0066] By calculating the additional torque M of the right wheel fr , which is convenient for the vehicle controller to adjust the additional torque M of the right wheel fr Determine the additional torque of the vehicle.

[0067] In some embodiments, the target output torque includes a left wheel target output torque and a right wheel target output torque. When torque is distributed to the wheels according to the target output torque, the torque is distributed to the left wheel of the vehicle according to the left wheel target output torque, and the torque is distributed to the right wheel of the vehicle according to the right wheel target output torque.

[0068] In the embodiment, the output torque M of the wheel at the last moment is calculated. em，r and the left wheel additional torque M fl Calculate the left wheel target output torque M em，rl , left wheel target output torque M em，rl The calculation formula is as follows:

[0069]

[0070] Determine the left wheel target output torque M em，rl Then, according to the left wheel target output torque M em，rl Torque is distributed to the left wheel of the vehicle to meet the redistributed left electric motor torque request.

[0071] That is, according to the calculated output torque M of the wheel at the last moment em，r and the right wheel additional torque M fr Calculate the right wheel target output torque M em，rr , right wheel target output torque M em，rr The calculation formula is as follows:

[0072]

[0073] Determine the right wheel target output torque M em，rr Then, according to the right wheel target output torque M em，rr Torque is distributed to the right wheel of the vehicle to meet the redistributed torque request of the right motor. The above method is used to reasonably distribute torque to the wheels (including the left front wheel and the right front wheel of the front axle of the vehicle, or the left rear wheel and the right rear wheel of the rear axle of the vehicle) to change the vehicle's own yaw, so that the vehicle's own yaw moves in an expected state, ensuring the stability, safety and driver's maneuverability of the vehicle state.

[0074] Reference below Figure 2 The torque distribution method according to the embodiment of the present invention is described with examples.

[0075] like Figure 2 As shown, the torque distribution method of the embodiment of the present invention at least includes steps S11 to S15.

[0076] Step S11, obtaining the front and rear axle torque requests of the vehicle, and determining the output torque of the wheels at a previous moment according to the front and rear axle torque requests.

[0077] Step S12, obtaining the target yaw moment of the vehicle, the dynamic radius of the wheel, the wheelbase of the axle where the wheel is located, and the axle speed ratio of the axle where the wheel is located.

[0078] Step S13, calculating the left wheel additional torque and the right wheel additional torque according to the target yaw moment, the dynamic radius of the wheel, the wheelbase of the axle where the wheel is located, and the axle speed ratio of the axle where the wheel is located.

[0079] Step S14, calculating the left wheel target output torque according to the wheel output torque at the last moment and the left wheel additional torque, and calculating the right wheel target output torque according to the wheel output torque at the last moment and the right wheel additional torque.

[0080] Step S15, distributing torque to the left wheel of the vehicle according to the left wheel target output torque, and distributing torque to the right wheel of the vehicle according to the right wheel target output torque.

[0081] According to the torque distribution method of the embodiment of the present invention, the driving state of the wheel is monitored in real time to obtain the driving data of the wheel, such as the output torque of the wheel at a previous moment and the additional torque of the wheel. The target output torque of the wheel is calculated according to the output torque of the wheel at a previous moment and the additional torque of the wheel, so as to control the vehicle to distribute the torque to the wheel according to the target output torque, that is, to distribute the torque to the left rear wheel and the right rear wheel of the rear axle of the vehicle according to the target output torque, or to distribute the torque to the left front wheel and the right front wheel of the front axle of the vehicle according to the target output torque, thereby achieving reasonable torque distribution to the wheels, thereby ensuring that the vehicle itself moves sideways in the expected state, thereby improving the stability and safety of the vehicle's driving state, and ensuring the driver's maneuverability of the vehicle.

[0082] Reference below Figure 3 The torque distribution device 2 according to the embodiment of the present invention will be described.

[0083] like Figure 3 As shown, the torque distribution device 2 of the embodiment of the present invention includes: an acquisition module 21, a calculation module 22 and a control module 23, wherein:

[0084] The acquisition module 21 is used to obtain the output torque of the wheel at the last moment and the additional torque of the wheel; the calculation module 22 is used to obtain the target output torque of the wheel according to the output torque of the wheel at the last moment and the additional torque of the wheel; the control module 23 is used to distribute torque to the wheel according to the target output torque.

[0085] In an embodiment, the acquisition module 21 can monitor the driving state of the wheel in real time through the relevant sensors set in the vehicle, and obtain the driving data of the wheel, such as the output torque of the wheel at the last moment. The output torque at the last moment is defined relative to the current moment of the vehicle, that is, the output torque corresponding to the last moment of the current driving moment of the vehicle is the output torque of the wheel at the last moment. It can be understood that the above parameters will change according to the different motion states of the wheel. Among them, the output torque of the wheel at the last moment is the total torque request of the shaft when the yaw moment is not added, and the additional torque of the wheel is the total torque request of the shaft when the yaw moment is added.

[0086] On the other hand, the acquisition module 21 can calculate the additional torque of the wheel according to the vehicle-related parameters, and then obtain the calculated additional torque of the wheel from the vehicle controller, which is beneficial to obtain the target output torque of the wheel according to the output torque of the wheel at the previous moment and the additional torque of the wheel that have been obtained, and then reasonably distribute the torque to the wheel according to the target output torque.

[0087] The calculation module 22 determines the target output torque of the wheel according to the output torque of the wheel at the last moment and the additional torque of the wheel, so as to distribute the torque to the wheel in a targeted manner according to the target output torque. The target output torque of the wheel is the motor torque request after redistribution, that is, the output torque obtained by adding the additional torque to the output torque of the wheel at the last moment. If any parameter of the output torque of the wheel at the last moment and the additional torque of the wheel changes, the target output torque of the corresponding wheel will be different. By determining the target output torque of the wheel according to the above parameters, it can be ensured that the target output torque required by the vehicle at different moments of driving will not be too small or too large, thereby providing data support for the reasonable distribution of wheel torque. Therefore, the wheel torque can be reasonably distributed under different circumstances, and the real-time monitoring of the vehicle itself and the adaptive distribution of wheel torque can be realized, so that the vehicle itself moves in the expected state, ensuring the stability, safety and maneuverability of the vehicle state.

[0088] The control module 23 distributes torque to the wheels of the vehicle according to the target output torque, for example, distributes torque to the left rear wheel and the right rear wheel of the rear axle of the vehicle according to the target output torque, or distributes torque to the left front wheel and the right front wheel of the front axle of the vehicle according to the target output torque, so as to change the yaw state of the vehicle itself so that the vehicle itself moves in an expected yaw state, thereby ensuring the stability, safety and driver maneuverability of the vehicle state.

[0089] According to the torque distribution device 2 of the embodiment of the present invention, the driving state of the wheel is monitored in real time to obtain the driving data of the wheel, such as the output torque of the wheel at the last moment and the additional torque of the wheel, and the target output torque of the wheel is calculated according to the output torque of the wheel at the last moment and the additional torque of the wheel, so as to control the vehicle to distribute the torque to the wheel according to the target output torque, that is, to distribute the torque to the left rear wheel and the right rear wheel of the rear axle of the vehicle according to the target output torque, or to distribute the torque to the left front wheel and the right front wheel of the front axle of the vehicle according to the target output torque, thereby realizing reasonable torque distribution to the wheels, thereby ensuring that the vehicle itself moves sideways in the expected state, thereby improving the stability and safety of the vehicle's driving state, and ensuring the driver's maneuverability of the vehicle.

[0090] In some embodiments, when the calculation module 22 obtains the target output torque of the wheel based on the output torque of the wheel at a previous moment and the additional torque of the wheel, it is specifically used to: calculate the target output torque of the wheel based on the difference between the output torque of the wheel at a previous moment and the additional torque of the wheel.

[0091] In some embodiments, when the acquisition module 21 acquires the output torque of the wheel at the last moment, it is specifically used to: acquire the front and rear axle torque requests of the vehicle, and determine the output torque of the wheel at the last moment according to the front and rear axle torque requests.

[0092] In some embodiments, when the acquisition module 21 acquires the additional torque of the wheel, it is specifically used to: acquire the target yaw moment of the vehicle, the dynamic radius of the wheel, the wheelbase of the axle where the wheel is located, and the axle speed ratio of the axle where the wheel is located; and calculate the additional torque based on the target yaw moment, the dynamic radius of the wheel, the wheelbase of the axle where the wheel is located, and the axle speed ratio of the axle where the wheel is located.

[0093] In some embodiments, the additional torque includes the left wheel additional torque. When the calculation module 22 calculates the left wheel additional torque, it specifically uses:

[0094]

[0095] Among them, M fl is the additional torque of the left wheel, M z，req is the target yaw moment of the vehicle, R le is the dynamic radius of the left wheel, t w is the wheelbase of the left wheel, i em，le is the axle speed ratio of the left wheel, and the target yaw moment of the vehicle is M z，req Additional yaw moment for torque vectoring function.

[0096] In some embodiments, the additional torque includes the right wheel additional torque. When the calculation module 22 calculates the right wheel additional torque, it is specifically used to:

[0097]

[0098] Among them, M fr Additional torque for the right wheel, M z，req is the target yaw moment of the vehicle, R ri is the dynamic radius of the right wheel, t w is the wheelbase of the right wheel axle, i em，ri is the axle speed ratio of the right wheel, and the target yaw moment of the vehicle is M z，req Additional yaw moment for torque vectoring function.

[0099] In some embodiments, the target output torque includes a left wheel target output torque and a right wheel target output torque. When the control module 23 distributes torque to the wheels according to the target output torque, it is specifically used to: distribute torque to the left wheel of the vehicle according to the left wheel target output torque, and distribute torque to the right wheel of the vehicle according to the right wheel target output torque.

[0100] According to the torque distribution device 2 of the embodiment of the present invention, the driving state of the wheel is monitored in real time to obtain the driving data of the wheel, such as the output torque of the wheel at the last moment and the additional torque of the wheel, and the target output torque of the wheel is calculated according to the output torque of the wheel at the last moment and the additional torque of the wheel, so as to control the vehicle to distribute the torque to the wheel according to the target output torque, that is, to distribute the torque to the left rear wheel and the right rear wheel of the rear axle of the vehicle according to the target output torque, or to distribute the torque to the left front wheel and the right front wheel of the front axle of the vehicle according to the target output torque, thereby realizing reasonable torque distribution to the wheels, thereby ensuring that the vehicle itself moves sideways in the expected state, thereby improving the stability and safety of the vehicle's driving state, and ensuring the driver's maneuverability of the vehicle.

[0101] Reference below Figure 4 and Figure 5 A vehicle 3 according to an embodiment of the present invention will be described.

[0102] In some embodiments, Figure 4 As shown, the vehicle 3 according to the embodiment of the present invention comprises a torque distribution device 2 as described in any one of the above embodiments of the present invention.

[0103] 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 distribution program 102 stored in the memory 101 and executable on the processor 100. When the torque distribution program 102 is executed by the processor 100, the torque distribution method of the above embodiment is implemented.

[0104] According to the vehicle 3 of the embodiment of the present invention, the driving state of the wheel is monitored in real time to obtain the driving data of the wheel, such as the output torque of the wheel at a previous moment and the additional torque of the wheel, and the target output torque of the wheel is calculated according to the output torque of the wheel at a previous moment and the additional torque of the wheel, so as to control the vehicle to distribute torque to the wheel according to the target output torque, that is, to distribute torque to the left rear wheel and the right rear wheel of the rear axle of the vehicle according to the target output torque, or to distribute torque to the left front wheel and the right front wheel of the front axle of the vehicle according to the target output torque, thereby achieving reasonable torque distribution to the wheels, thereby ensuring that the vehicle itself moves sideways in the expected state, thereby improving the stability and safety of the vehicle's driving state, and ensuring the driver's maneuverability of the vehicle.

[0105] The following describes a computer-readable storage medium according to an embodiment of the present invention.

[0106] A torque distribution program is stored on a computer-readable storage medium in an embodiment of the present invention. When the torque distribution program is executed by a processor, the torque distribution method described in any one of the above embodiments of the present invention is implemented.

[0107] According to the computer-readable storage medium of an embodiment of the present invention, when the torque distribution program stored thereon is executed by the processor, the driving state of the wheel is monitored in real time to obtain the driving data of the wheel, such as the output torque of the wheel at a previous moment and the additional torque of the wheel, and the target output torque of the wheel is calculated according to the output torque of the wheel at a previous moment and the additional torque of the wheel, so as to control the vehicle to distribute torque to the wheel according to the target output torque, that is, to distribute torque to the left rear wheel and the right rear wheel of the rear axle of the vehicle according to the target output torque, or to distribute torque to the left front wheel and the right front wheel of the front axle of the vehicle according to the target output torque, thereby achieving reasonable torque distribution to the wheels, thereby ensuring that the vehicle itself moves sideways in the expected state, thereby improving the stability and safety of the vehicle's driving state, and ensuring the driver's maneuverability of the vehicle.

[0108] 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.

[0109] 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 distribution method, characterized in that: The following steps are involved: Obtaining the output torque of the wheel at the last moment and the additional torque of the wheel; Obtaining a target output torque of the wheel according to the output torque of the wheel at a previous moment and the additional torque of the wheel; Torque is distributed to the wheels according to the target output torque.

2. The torque distribution method according to claim 1, characterized in that: Obtaining a target output torque of the wheel according to the output torque of the wheel at a previous moment and the additional torque of the wheel includes: The target output torque of the wheel is calculated according to the difference between the output torque of the wheel at a previous moment and the additional torque of the wheel.

3. The torque distribution method according to claim 1, characterized in that: Obtaining the output torque of the wheel at the last moment, including: The front and rear axle torque requests of the vehicle are obtained, and the output torque of the wheel at a previous moment is determined according to the front and rear axle torque requests.

4. The torque distribution method according to claim 1, characterized in that: Obtaining the additional torque of the wheel, comprising: Obtaining a target yaw moment of the vehicle, a dynamic radius of the wheel, a wheelbase of an axle where the wheel is located, and an axle speed ratio of the axle where the wheel is located; The additional torque is calculated according to the target yaw moment, the dynamic radius of the wheel, the wheelbase of the axle where the wheel is located, and the axle speed ratio of the axle where the wheel is located.

5. The torque distribution method according to claim 4, characterized in that: The additional torque includes a left wheel additional torque, and calculating the left wheel additional torque includes: Among them, M fl is the additional torque of the left wheel, M z，req is the target yaw moment of the vehicle, R le is the dynamic radius of the left wheel, t w is the wheelbase of the left wheel, i em，le is the shaft speed ratio of the shaft where the left wheel is located.

6. The torque distribution method according to claim 4, characterized in that: The additional torque includes the right wheel additional torque, and calculating the right wheel additional torque includes: Among them, M fr The additional torque for the right wheel, M z，req is the target yaw moment of the vehicle, R ri is the dynamic radius of the right wheel, t w is the wheelbase of the right wheel axle, i em，ri is the shaft speed ratio of the shaft where the right wheel is located.

7. The torque distribution method according to claim 1, characterized in that: The target output torque includes a left wheel target output torque and a right wheel target output torque, and torque distribution to the wheels is performed according to the target output torque, including: Torque is distributed to the left wheel of the vehicle according to the left wheel target output torque, and torque is distributed to the right wheel of the vehicle according to the right wheel target output torque.

8. A torque distribution device, characterized in that: include: An acquisition module, used for acquiring the output torque of the wheel at a previous moment and the additional torque of the wheel; a calculation module, configured to obtain a target output torque of the wheel according to the output torque of the wheel at a previous moment and the wheel additional torque; A control module is used to distribute torque to the wheels according to the target output torque.

9. A vehicle, characterized in that: include: The torque distribution device as claimed in claim 8; or, A processor, a memory, and a torque distribution program stored in the memory and executable on the processor, wherein the torque distribution program, when executed by the processor, implements the torque distribution method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: A torque distribution program is stored on a computer-readable storage medium, and when the torque distribution program is executed by a processor, the torque distribution method according to any one of claims 1 to 7 is implemented.

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