Torque distribution method, vehicle and computer readable storage medium

Abstract

The invention provides a torque distribution method, a vehicle and a computer readable storage medium. The method comprises the steps that the left wheel yawing torque and the right wheel yawing torque of the vehicle and the left motor request torque and the right motor request torque controlled based on the slip rate are obtained; determining a left motor target torque according to the left wheel yaw moment and the left motor request torque, and determining a right motor target torque according to the right wheel yaw moment and the right motor request torque; distributing torque to the left motor according to the left motor target torque, and distributing torque to the right motor according to the right motor target torque. Limiting factors such as a vehicle body electronic stability control system, the slip rate, the available torque and power of the motors and the influence on torque distribution are comprehensively considered, the torque of the left and right motors is distributed more reasonably and accurately based on the factors, it is guaranteed that the left and right motors of the vehicle can operate efficiently, the torque is fully utilized, and the service life of the vehicle is prolonged. Therefore, the dynamic property and the stability of the vehicle are improved.

Description

Technical Field

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

[0002] With the development of modern electric vehicle technology, multi-motor architecture models are gaining more and more attention. Usually, two independent drive motors are arranged on the front and rear of the vehicle. Compared with single-motor drive, multi-motor drive is more convenient to control and has a faster response speed. It can improve vehicle stability or vehicle flexibility, thereby enhancing driving pleasure. Among them, independent motor control has become a mainstream research direction.

[0003] In vehicles with independent motor control, that is, single-axle dual-motor vehicles, most of them adopt the left and right torque distribution method based on target yaw control. Combined with the driving conditions, the torque difference is created by the dual motors to add yaw moment to the vehicle, correct the vehicle state, and then improve the vehicle's driving flexibility or improve the vehicle stability as needed.

[0004] However, when the vehicle's wheels are in different slip states, the torque distribution of the left and right motors is unreasonable due to factors such as slip rate, available motor torque, and power, which makes it impossible for the motors to operate efficiently and the vehicle's power and stability to be intelligently controlled. 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 comprehensively considers limiting factors such as the vehicle electronic stability control system, slip rate, available torque and power of the motor and their impact on torque distribution, and based on these factors, distributes the torque of the left and right motors more reasonably and accurately, ensuring that the left and right motors of the vehicle can operate efficiently and make full use of the torque, thereby improving the vehicle's power and stability.

[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 left wheel yaw torque, the right wheel yaw torque of the vehicle, and the left motor requested torque and the right motor requested torque based on slip rate control, wherein the left wheel, the right wheel, the left motor and the right motor are connected to the same axis of the vehicle; determining the left motor target torque according to the left wheel yaw torque and the left motor requested torque, and determining the right motor target torque according to the right wheel yaw torque and the right motor requested torque; distributing torque to the left motor according to the left motor target torque, and distributing torque to the right motor according to the right motor target torque.

[0011] According to the torque distribution method of the embodiment of the present invention, the driving state of the vehicle under different driving conditions can be monitored in real time through relevant sensors or controllers on the vehicle, and the vehicle's driving data, such as the left wheel yaw torque and the right rear wheel yaw torque of the vehicle, are obtained, the slip rate of the left wheel and the right wheel are respectively controlled, and the left motor request torque and the right motor request torque based on the slip rate control are obtained, and the left motor target torque is determined according to the left rear wheel yaw torque and the left motor request torque, and the right motor target torque is determined according to the right rear wheel yaw torque and the right motor request torque, so that the left motor is reasonably distributed according to the left motor target torque, and the right motor is reasonably distributed according to the right motor target torque, so as to ensure that the left and right motors of the vehicle can operate efficiently and make full use of the torque, thereby improving the power and stability of the vehicle.

[0012] In some embodiments, the left motor target torque is determined according to the left wheel yaw torque and the left motor requested torque, and the right motor target torque is determined according to the right wheel yaw torque and the right motor requested torque, including: when the shaft requests a torque increase, the larger of the left wheel yaw torque and the left motor requested torque is used as the left motor target torque, and the larger of the right wheel yaw torque and the right motor requested torque is used as the right motor target torque; when the shaft requests a torque decrease, the smaller of the left wheel yaw torque and the left motor requested torque is used as the left motor target torque, and the smaller of the right wheel yaw torque and the right motor requested torque is used as the right motor target torque.

[0013] In some embodiments, the torque distribution method also includes: if a first left motor request torque and a first right motor request torque sent by the vehicle's body electronic stability control system are received, the first left motor request torque is used as the left motor target torque, and the first right motor request torque is used as the right motor target torque.

[0014] In some embodiments, after determining the left motor target torque and the right motor target torque, it also includes: limiting the left motor target torque according to the set left motor maximum available torque limit; limiting the right motor target torque according to the set right motor maximum available torque limit; and redistributing the vehicle torque according to the limited left motor target torque and the limited right motor target torque.

[0015] In some embodiments, torque is redistributed to the vehicle based on a limited left motor target torque and a limited right motor target torque, including: determining whether there is a slipping wheel among the left wheel and the right wheel; if neither the left wheel nor the right wheel slips, outputting the limited left motor target torque and the limited right motor target torque, so as to distribute torque to the left motor based on the limited left motor target torque and distribute torque to the right motor based on the limited right motor target torque.

[0016] In some embodiments, the torque of the vehicle is redistributed according to the limited left motor target torque and the limited right motor target torque, and the method further includes: if one of the left wheel and the right wheel slips, the torque reduction of the motor corresponding to the slipping wheel is transferred to the motor corresponding to the non-slipping wheel, and it is determined whether the first yaw moment deviation generated in the torque transfer process is less than or equal to the yaw moment tolerance threshold; if so, the current torque of the motor corresponding to the left wheel after the torque transfer is used as the limited left motor target torque, and the current torque of the motor corresponding to the right wheel after the torque transfer is used as the limited right motor target torque; otherwise, the torque transfer amount from the motor corresponding to the slipping wheel to the motor corresponding to the non-slipping wheel is reduced until the first yaw moment deviation generated in the torque transfer process is less than or equal to the yaw moment tolerance threshold, and the current torque of the motor corresponding to the left wheel after the torque transfer is used as the limited left motor target torque, and the current torque of the motor corresponding to the right wheel after the torque transfer is used as the limited right motor target torque.

[0017] In some embodiments, the torque of the vehicle is redistributed according to the limited left motor target torque and the limited right motor target torque, and also includes: if both the left wheel and the right wheel slip, a second yaw moment deviation is obtained according to the torque change amount after the left wheel and the right wheel slip; it is determined whether the second yaw moment deviation is less than or equal to the yaw moment tolerance threshold; if so, the current torque of the motor corresponding to the left wheel after the slip is used as the limited left motor target torque, and the current torque of the motor corresponding to the right wheel after the slip is used as the limited right motor target torque; otherwise, the current torque of the motor corresponding to the right wheel is calculated according to the current torque of the motor corresponding to the left wheel after the slip and the yaw moment tolerance threshold, the current torque of the motor corresponding to the left wheel after the slip is used as the limited left motor target torque, and the calculated current torque of the motor corresponding to the right wheel is used as the limited right motor target torque.

[0018] In some embodiments, the method for obtaining the yaw moment tolerance threshold includes: obtaining the friction coefficient of the current road surface and the lateral acceleration of the vehicle; selecting the target lateral acceleration-yaw moment tolerance threshold correspondence calibration table corresponding to the friction coefficient from a database; querying the target lateral acceleration-yaw moment tolerance threshold correspondence calibration table according to the lateral acceleration to obtain the yaw moment tolerance threshold corresponding to the lateral acceleration, wherein different friction coefficient levels correspond to different target lateral acceleration-yaw moment tolerance threshold correspondence calibration tables.

[0019] In some embodiments, after the torque of the vehicle is redistributed according to the limited left motor target torque and the limited right motor target torque, it also includes: obtaining the power request of each motor of the vehicle; and redistributing power to each motor based on the power request of each motor of the vehicle.

[0020] In some embodiments, power is redistributed to each motor based on the power request of each motor of the vehicle, including: obtaining a total power request of the vehicle based on the power request of each motor of the vehicle; determining the reallocatable power based on the total power request; calculating the proportion of the power request of each motor in the total power request; and allocating the reallocatable power to corresponding motors according to the proportion.

[0021] In some embodiments, determining the reallocatable power according to the total power request includes: obtaining the reallocatable power according to a difference between the total power requirement and a preset power limit.

[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 left wheel yaw torque, the right wheel yaw torque of the vehicle, and the left motor requested torque and the right motor requested torque after slip rate control, wherein the left wheel, the right wheel, the left motor and the right motor are connected to the same axis of the vehicle; a determination module, used to determine the left motor target torque according to the left wheel yaw torque and the left motor requested torque, and determine the right motor target torque according to the right wheel yaw torque and the right motor requested torque; a control module, used to distribute torque to the left motor according to the left motor target torque, and distribute torque to the right motor according to the right motor target torque.

[0023] According to the torque distribution device of the embodiment of the present invention, the driving state of the vehicle under different driving conditions can be monitored in real time through relevant sensors or controllers on the vehicle, and the vehicle's driving data, such as the left wheel yaw torque and the right rear wheel yaw torque of the vehicle, respectively control the slip rate of the left wheel and the right wheel, obtain the left motor request torque and the right motor request torque based on the slip rate control, determine the left motor target torque according to the left rear wheel yaw torque and the left motor request torque, and determine the right motor target torque according to the right rear wheel yaw torque and the right motor request torque, so as to reasonably distribute the torque to the left motor according to the left motor target torque, and reasonably distribute the torque to the right motor according to the right motor target torque, so as to ensure that the left and right motors of the vehicle can operate efficiently and make full use of the torque, thereby improving the power and stability of the vehicle.

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

[0025] According to the vehicle of the embodiment of the present invention, the driving state of the vehicle under different driving conditions can be monitored in real time through relevant sensors or controllers on the vehicle, and the vehicle's driving data, such as the left wheel yaw torque and the right rear wheel yaw torque of the vehicle, respectively control the slip rate of the left wheel and the right wheel, obtain the left motor request torque and the right motor request torque based on the slip rate control, determine the left motor target torque according to the left rear wheel yaw torque and the left motor request torque, and determine the right motor target torque according to the right rear wheel yaw torque and the right motor request torque, so as to reasonably distribute the torque to the left motor according to the left motor target torque, and reasonably distribute the torque to the right motor according to the right motor target torque, so as to ensure that the left and right motors of the vehicle can operate efficiently and make full use of the torque, thereby improving the power and stability 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 the embodiment of the present invention, when the torque distribution program stored thereon is executed by a processor,

[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 ; determination 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 left wheel yaw moment, the right wheel yaw moment and the left motor request torque and the right motor request torque after slip rate control, wherein the left wheel, the right wheel, the left motor and the right motor are connected to the same shaft of the vehicle.

[0040] Among them, the same axle of the vehicle can be the front axle or the rear axle. If it is the front axle of the vehicle, the left wheel is the left front wheel, the right wheel is the right front wheel, the left motor is the left motor of the front axle, and the right motor is the right motor of the front axle; if it is the rear axle of the vehicle, the left wheel is the left rear wheel, the right wheel is the right rear wheel, the left motor is the left motor of the rear axle, and the right motor is the right motor of the rear axle. The left wheel yaw moment is the torque request of the current output of the left wheel of the vehicle, the right wheel yaw moment is the torque request of the current output of the right wheel of the vehicle, the left motor request torque is the torque request output by the left motor based on the slip rate control, and the right motor request torque is the torque request output by the right motor based on the slip rate control. It can be understood that the above parameters will change according to the different driving states of the vehicle. Specifically, the vehicle is equipped with a slip rate control module, for example, which can control the slip rate of each wheel based on the slip rate, and then output the torque request of the left motor and the right motor.

[0041] In an embodiment, the driving state of the vehicle under different driving conditions can be monitored in real time through relevant sensors or controllers on the vehicle, and the vehicle's driving data, such as the left wheel yaw moment and the right wheel yaw moment of the vehicle, can be obtained. The slip rate of the left wheel is controlled, and a torque request is output, i.e., the torque requested by the left motor after the slip rate control. The slip rate of the right wheel is controlled, and a torque request is output, i.e., the torque requested by the right motor after the slip rate control.

[0042] For example, the yaw moment of the left rear wheel and the yaw moment of the right rear wheel of the vehicle are obtained, the slip rate of the left wheel of the rear axle is controlled, and a torque request is output, i.e., the torque requested by the left motor of the rear axle after slip rate control is performed, the slip rate of the right wheel of the rear axle is controlled, and a torque request is output, i.e., the torque requested by the right motor of the rear axle after slip rate control is performed; or the yaw moment of the left front wheel and the right front wheel of the vehicle are obtained, the slip rate of the left wheel of the front axle is controlled, and a torque request is output, i.e., the torque requested by the left motor of the front axle after slip rate control is performed, the slip rate of the right wheel of the front axle is controlled, and a torque request is output, i.e., the torque requested by the right motor of the front axle after slip rate control is performed. By obtaining the above-mentioned driving data, it is convenient to determine the target torque of the left motor and the target torque of the right motor according to the above-mentioned driving data, and then control the vehicle to distribute torque to the left motor and the right motor according to the above-mentioned parameters.

[0043] Step S2, determining the target torque of the left motor according to the yaw torque of the left wheel and the requested torque of the left motor, and determining the target torque of the right motor according to the yaw torque of the right wheel and the requested torque of the right motor.

[0044] Among them, the target torque of the left motor is the torque request allocated to the left motor, and the target torque of the right motor is the torque request allocated to the right motor. By determining the above parameters, data support can be provided for the reasonable allocation of vehicle torque, and the vehicle can realize real-time monitoring of itself and adaptive allocation of torque, so that the vehicle's wheels can use torque more effectively under different slip conditions, thereby improving the efficiency of vehicle torque distribution.

[0045] In an embodiment, after obtaining the left wheel yaw torque of the vehicle and the left motor requested torque based on slip rate control, the right wheel yaw torque and the right motor requested torque based on slip rate control, the corresponding left motor target torque is jointly determined based on the left wheel yaw torque and the left motor requested torque, and the corresponding right motor target torque is jointly determined based on the right wheel yaw torque and the right motor requested torque.

[0046] For example, after obtaining the vehicle's left rear wheel yaw torque and the requested torque of the left motor of the rear axle based on slip rate control, as well as the right rear wheel yaw torque and the requested torque of the right motor of the rear axle based on slip rate control, the corresponding target torque of the left motor of the rear axle is determined based on the left rear wheel yaw torque and the requested torque of the left motor of the rear axle, and the corresponding target torque of the right motor of the rear axle is determined based on the right rear wheel yaw torque and the requested torque of the right motor of the rear axle, thereby making reasonable torque distribution for the left motor and the right motor of the rear axle according to the above parameters.

[0047] Alternatively, after obtaining the vehicle's left front wheel yaw torque and the requested torque of the left motor of the front axle based on slip rate control, as well as the right front wheel yaw torque and the requested torque of the right motor of the front axle based on slip rate control, the corresponding target torque of the left motor of the front axle is determined based on the left front wheel yaw torque and the requested torque of the left motor of the front axle, and the corresponding target torque of the right motor of the front axle is determined based on the right front wheel yaw torque and the requested torque of the right motor of the front axle. Thus, the torque of the left motor of the front axle and the right motor of the rear axle are reasonably distributed according to the above parameters, so that the left motor and the right motor always operate efficiently, thereby ensuring that the vehicle can utilize torque more effectively.

[0048] Step S3, distributing torque to the left motor according to the target torque of the left motor, and distributing torque to the right motor according to the target torque of the right motor.

[0049] In an embodiment, after determining the target torque of the left motor, reasonable torque distribution is performed on the left motor according to the target torque of the left motor, and after determining the target torque of the right motor, reasonable torque distribution is performed on the right motor according to the target torque of the right motor, that is, reasonable torque distribution is performed on the rear axle left motor of the vehicle according to the target torque of the rear axle left motor, and reasonable torque distribution is performed on the rear axle right motor of the vehicle according to the target torque of the rear axle right motor; or reasonable torque distribution is performed on the front axle left motor of the vehicle according to the target torque of the front axle left motor, and reasonable torque distribution is performed on the front axle right motor of the vehicle according to the target torque of the front axle right motor, so that the left motor and the right motor can always operate efficiently, ensuring that the vehicle can more effectively utilize torque, thereby improving the vehicle's power and stability.

[0050] 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.

[0051] According to the torque distribution method of the embodiment of the present invention, the driving state of the vehicle under different driving conditions can be monitored in real time through relevant sensors or controllers on the vehicle, and the vehicle's driving data, such as the left wheel yaw torque and the right rear wheel yaw torque of the vehicle, are obtained, the slip rate of the left wheel and the right wheel are respectively controlled, and the left motor request torque and the right motor request torque based on the slip rate control are obtained, and the left motor target torque is determined according to the left rear wheel yaw torque and the left motor request torque, and the right motor target torque is determined according to the right rear wheel yaw torque and the right motor request torque, so that the left motor is reasonably distributed according to the left motor target torque, and the right motor is reasonably distributed according to the right motor target torque, so as to ensure that the left and right motors of the vehicle can operate efficiently and make full use of the torque, thereby improving the power and stability of the vehicle.

[0052] In some embodiments, the target torque of the left motor is determined based on the left wheel yaw torque and the left motor requested torque, and the target torque of the right motor is determined based on the right wheel yaw torque and the right motor requested torque, including: when the shaft requests a torque increase, the larger of the left wheel yaw torque and the left motor requested torque is used as the left motor target torque, and the larger of the right wheel yaw torque and the right motor requested torque is used as the right motor target torque; when the shaft requests a torque decrease, the smaller of the left wheel yaw torque and the left motor requested torque is used as the left motor target torque, and the smaller of the right wheel yaw torque and the right motor requested torque is used as the right motor target torque.

[0053] In an embodiment, after obtaining the left wheel yaw moment, right wheel yaw moment, and the left motor requested torque and right motor requested torque based on slip ratio control of the vehicle, the left wheel yaw moment and the left motor requested torque based on slip ratio control are compared, and the right wheel yaw moment and the right motor requested torque based on slip ratio control are compared. When the shaft requests a torque increase, it is considered that the vehicle is in a reverse gear state, and the larger of the left wheel yaw moment and the left motor requested torque is used as the left motor target torque, and the larger of the right wheel yaw moment and the right motor requested torque is used as the right motor target torque; when the shaft requests a torque decrease, it is considered that the vehicle is in a forward state, and the smaller of the left wheel yaw moment and the left motor requested torque is used as the left motor target torque, and the smaller of the right wheel yaw moment and the right motor requested torque is used as the right motor target torque.

[0054] In some embodiments, the torque distribution method also includes: if a first left motor request torque and a first right motor request torque sent by the vehicle's body electronic stability control system are received, the first left motor request torque is used as the left motor target torque, and the first right motor request torque is used as the right motor target torque.

[0055] In an embodiment, after obtaining the left rear wheel yaw moment, the right rear wheel yaw moment, and the left motor requested torque and the right motor requested torque based on slip rate control of the vehicle, if the first left motor requested torque and the first right motor requested torque sent by the vehicle's body electronic stability control system are received, the first left motor requested torque is used as the left motor target torque, and the first right motor requested torque is used as the right motor target torque, so as to quickly respond to the torque request of the body electronic stability control system for the left and right motors, and ensure that the left and right motors can operate efficiently; if the first left motor requested torque and the first right motor requested torque sent by the vehicle's body electronic stability control system are not received, the corresponding left motor target torque and right motor target torque are determined according to the shaft request for torque increase or torque reduction.

[0056] In some embodiments, after determining the left motor target torque and the right motor target torque, it also includes: limiting the left motor target torque according to the set left motor maximum available torque limit; limiting the right motor target torque according to the set right motor maximum available torque limit; and redistributing the vehicle torque according to the limited left motor target torque and the limited right motor target torque.

[0057] In an embodiment, the maximum available torque limit of the left motor is set to be the positive and negative torque limit that the left motor can use normally, and the maximum available torque limit of the right motor is set to be the positive and negative torque limit that the right motor can use normally. After determining the target torque of the left motor, the target torque of the left motor is compared with the set maximum available torque limit of the left motor. When the target torque of the left motor is less than the set maximum available torque limit of the left motor, the target torque of the left motor is output as the target torque of the left motor after limitation; when the target torque of the left motor is greater than or equal to the set maximum available torque limit of the left motor, the set maximum available torque limit of the left motor is output as the target torque of the left motor after limitation, so as to prevent the target torque of the left motor from exceeding the set maximum available torque limit of the left motor, and ensure that the torque request allocated by the left motor can be limited within the capacity of the left motor, so as to prevent damage to the left motor.

[0058] After determining the right motor target torque, compare the right motor target torque with the set right motor maximum available torque limit. When the right motor target torque is less than the set right motor maximum available torque limit, output the right motor target torque as the limited right motor target torque; when the right motor target torque is greater than or equal to the set right motor maximum available torque limit, output the set left and right motor maximum available torque limits as the limited right motor target torque to prevent the right motor target torque from exceeding the set right motor maximum available torque limit, thereby ensuring that the torque request allocated to the right motor can be limited within the capacity of the right motor to prevent damage to the right motor.

[0059] In some embodiments, torque is redistributed to the vehicle based on a limited left motor target torque and a limited right motor target torque, including: determining whether there is a slipping wheel among the left and right wheels; if neither the left nor the right wheel slips, outputting the limited left motor target torque and the limited right motor target torque, so that torque is distributed to the left motor based on the limited left motor target torque, and torque is distributed to the right motor based on the limited right motor target torque.

[0060] In an embodiment, after determining the limited target torque of the left motor and the limited target torque of the right motor, it is determined whether there is a slipping wheel among the left and right wheels. If neither the left wheel nor the right wheel slips, it is considered that the stability of the vehicle is strong, and the limited target torque of the left motor and the limited target torque of the right motor are directly output so that torque is distributed to the left motor according to the limited target torque of the left motor, and torque is distributed to the right motor according to the limited target torque of the right motor.

[0061] In some embodiments, redistributing the torque of the vehicle according to the limited left motor target torque and the limited right motor target torque also includes: if one of the left wheel and the right wheel slips, transferring the torque reduction of the motor corresponding to the slipping wheel to the motor corresponding to the non-slipping wheel, and judging whether the first yaw moment deviation generated in the torque transfer process is less than or equal to the yaw moment tolerance threshold; if so, using the current torque of the motor corresponding to the left wheel after the torque transfer as the limited left motor target torque, and using the current torque of the motor corresponding to the right wheel after the torque transfer as the limited right motor target torque; otherwise, reducing the torque transfer amount from the motor corresponding to the slipping wheel to the motor corresponding to the non-slipping wheel until the first yaw moment deviation generated in the torque transfer process is less than or equal to the yaw moment tolerance threshold, using the current torque of the motor corresponding to the left wheel after the torque transfer as the limited left motor target torque, and using the current torque of the motor corresponding to the right wheel after the torque transfer as the limited right motor target torque.

[0062] In the embodiment, it is determined whether there is a slipping wheel among the left and right wheels. If one of the left and right wheels slips, it is considered that the stability of the vehicle is poor, and the torque reduction of the motor corresponding to the slipping wheel is transferred to the motor corresponding to the non-slipping wheel. Taking the slipping of the left rear wheel as an example, the torque reduction of the motor corresponding to the left rear wheel, i.e., the left motor of the rear axle, is transferred to the motor corresponding to the right rear wheel, i.e., the right motor of the rear axle, and the relationship between the first yaw moment deviation generated in the torque transfer process and the yaw moment tolerance threshold is determined. If the first yaw moment deviation is less than or equal to the yaw moment tolerance threshold, the current torque of the motor corresponding to the left rear wheel, i.e., the left motor of the rear axle, after the torque is transferred is used as the target torque of the left motor after the restriction, and the current torque of the motor corresponding to the right rear wheel, i.e., the right motor of the rear axle, after the torque is transferred is used as the target torque of the right motor after the restriction.

[0063] If the first yaw moment deviation is greater than the yaw moment tolerance threshold, the torque transfer amount from the motor corresponding to the slipping wheel to the motor corresponding to the non-slipping wheel is reduced. Taking the slip of the left rear wheel as an example, the torque transfer amount from the motor corresponding to the left rear wheel, i.e., the left motor of the rear axle, to the motor corresponding to the right rear wheel, i.e., the right motor of the rear axle, is reduced until the first yaw moment deviation generated in the torque transfer process is less than or equal to the yaw moment tolerance threshold. After the torque is transferred, the current torque of the motor corresponding to the left rear wheel, i.e., the left motor of the rear axle, is used as the restricted target torque of the left motor, and the current torque of the motor corresponding to the right rear wheel, i.e., the right motor of the rear axle, is used as the restricted target torque of the right motor, so as to ensure that the longitudinal performance of the vehicle, i.e., the total driving force, remains unchanged, thereby ensuring the stability of the vehicle.

[0064] In some embodiments, torque redistribution of the vehicle is performed based on the limited left motor target torque and the limited right motor target torque, and also includes: if both the left and right wheels slip, a second yaw moment deviation is obtained based on the torque change after the left and right wheels slip; it is determined whether the second yaw moment deviation is less than or equal to the yaw moment tolerance threshold; if so, the current torque of the motor corresponding to the left wheel after the slip is used as the limited left motor target torque, and the current torque of the motor corresponding to the right wheel after the slip is used as the limited right motor target torque; otherwise, the current torque of the motor corresponding to the right wheel is calculated based on the current torque of the motor corresponding to the left wheel after the slip and the yaw moment tolerance threshold, the current torque of the motor corresponding to the left wheel after the slip is used as the limited left motor target torque, and the calculated current torque of the motor corresponding to the right wheel is used as the limited right motor target torque.

[0065] In the embodiment, it is determined whether there is a slipping wheel among the left and right wheels. If both the left and right wheels slip, it is considered that the stability of the vehicle is very poor, and a second yaw moment deviation is obtained according to the torque change after the left and right wheels slip. Taking the case where both the left rear wheel and the right rear wheel of the rear axle slip as an example, the second yaw moment deviation is obtained according to the torque change after the left rear wheel and the right rear wheel slip, and the relationship between the second yaw moment deviation and the yaw moment tolerance threshold is determined. If the second yaw moment deviation is less than or equal to the yaw moment tolerance threshold, the current torque of the motor corresponding to the left rear wheel after the slip, i.e., the left motor of the rear axle, is used as the target torque of the left motor after restriction, and the current torque of the motor corresponding to the right rear wheel after the slip, i.e., the right motor of the rear axle, is used as the target torque of the right motor after restriction.

[0066] If the second yaw moment deviation is greater than the yaw moment tolerance threshold, the current torque of the motor corresponding to the right rear wheel, i.e., the right motor of the rear axle, is calculated based on the current torque of the motor corresponding to the left rear wheel after the slip, i.e., the left motor of the rear axle, and the yaw moment tolerance threshold. The current torque of the motor corresponding to the left rear wheel after the slip, i.e., the left motor of the rear axle, is used as the target torque of the left motor after limitation, and the calculated current torque of the motor corresponding to the right rear wheel, i.e., the right motor of the rear axle, is used as the target torque of the right motor after limitation, so as to ensure that the longitudinal performance of the vehicle, i.e., the total driving force, remains unchanged, thereby ensuring the stability of the vehicle.

[0067] In a specific embodiment, the current torque of the motor corresponding to the right rear wheel, i.e., the rear axle right motor, is calculated based on the current torque of the motor corresponding to the left rear wheel after slippage, i.e., the rear axle left motor, and the yaw moment tolerance threshold, including:

[0068]

[0069] Among them, Fx llim Fx is the current torque of the motor corresponding to the left rear wheel after slippage, i.e., the left motor on the rear axle. lrep Request torque for the rear axle left motor, Fx rrep is the rear axle right motor request torque, Tqtor is the yaw moment tolerance threshold, Track is the rear axle track, Fx rlim is the current torque of the motor corresponding to the right rear wheel after slippage, that is, the right motor of the rear axle. Then the current torque Fx of the motor corresponding to the left rear wheel after slippage, that is, the left motor of the rear axle llim As the left motor target torque after restriction, the current torque Fx of the motor corresponding to the right rear wheel, i.e., the right motor of the rear axle, is calculated. rlim As the right motor target torque after limitation.

[0070] In some embodiments, a method for obtaining a yaw moment tolerance threshold value includes: obtaining a friction coefficient of a current road surface and a lateral acceleration of a vehicle; selecting a target lateral acceleration-yaw moment tolerance threshold correspondence calibration table corresponding to the friction coefficient from a database; and querying the target lateral acceleration-yaw moment tolerance threshold correspondence calibration table according to the lateral acceleration to obtain a yaw moment tolerance threshold value corresponding to the lateral acceleration, wherein different friction coefficient levels correspond to different target lateral acceleration-yaw moment tolerance threshold correspondence calibration tables.

[0071] In an embodiment, the driving state of the vehicle under different driving conditions can be monitored in real time through relevant sensors or controllers on the vehicle, and the driving data of the vehicle can be obtained, such as the friction coefficient of the current road surface and the lateral acceleration of the vehicle. After obtaining the above driving data, a target lateral acceleration-yaw moment tolerance threshold correspondence calibration table corresponding to the road friction coefficient level of the vehicle's current driving road is selected from the database, and the corresponding target lateral acceleration-yaw moment tolerance threshold correspondence calibration table is queried according to the lateral acceleration to obtain the yaw moment tolerance threshold corresponding to the lateral acceleration, wherein different friction coefficient levels correspond to different target lateral acceleration-yaw moment tolerance threshold correspondence calibration tables, thereby ensuring that the corresponding yaw moment tolerance threshold is determined under road conditions with different friction coefficients.

[0072] In a specific embodiment, the road friction coefficient level can be calculated based on the longitudinal acceleration and lateral acceleration of the vehicle. For example: Among them, μ is the friction coefficient level of the road surface, a x is the longitudinal acceleration, a y is the lateral acceleration.

[0073] In some embodiments, after redistributing the torque of the vehicle according to the limited left motor target torque and the limited right motor target torque, it also includes: obtaining the power request of each motor of the vehicle; and redistributing the power of each motor based on the power request of each motor of the vehicle.

[0074] In an embodiment, the motor torque of each motor of the vehicle is obtained, for example, recorded as M, the motor running angular velocity of each motor of the vehicle is obtained, for example, recorded as ω, and the power request of each motor of the vehicle is calculated according to the above parameters, for example, recorded as P, that is, the calculation formula of the power request P of each motor of the vehicle is as follows:

[0075] P=M*ω

[0076] After the power request P of each motor of the vehicle is obtained, power is redistributed to each motor of the vehicle based on the power request P of each motor of the vehicle.

[0077] In some embodiments, power is redistributed to each motor based on the power request of each motor of the vehicle, including: obtaining the total power request of the vehicle according to the power request of each motor of the vehicle; determining the redistributable power according to the total power request; calculating the proportion of the power request of each motor in the total power request; and distributing the redistributable power to the corresponding motor according to the proportion. It can be understood that when the redistributed power is distributed to the corresponding motor, the power distributed to each motor pair can be converted into a corresponding torque, thereby realizing torque distribution to each motor.

[0078] In an embodiment, after obtaining the power request P of each motor of the vehicle, the power request P of each motor of the vehicle is added, and the sum is the total power request of the vehicle. The reallocatable power is determined based on the total power request, and the proportion of the power request of each motor in the total power request is calculated. The reallocatable power is allocated to the corresponding motor according to the proportion, so that the corresponding motor reduces the output to avoid exceeding the limit. For example, the proportion of the power request of the front axle motor in the total power request is calculated for subsequent power redistribution of the front axle left motor and the front axle right motor. When the vehicle is started but not driving, the proportion is obtained through a calibration quantity and can be modified.

[0079] In some embodiments, determining the reallocatable power according to the total power request includes: obtaining the reallocatable power according to a difference between the total power demand and a preset power limit.

[0080] In an embodiment, after determining the total power request, the difference between the total power demand and the preset power limit is calculated, and the difference is used as the redistributable power to prevent the redistributable power from exceeding the preset power limit and causing damage to the motor.

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

[0082] like Figure 2 As shown, the torque distribution method of the embodiment of the present invention at least includes steps S10 to S33.

[0083] Step S10 , obtaining the left wheel yaw moment, the right wheel yaw moment, and the left motor request torque and the right motor request torque after slip ratio control.

[0084] Step S11, determining whether a first left motor request torque and a first right motor request torque sent by a vehicle body electronic stability control system are received, if so, executing step S12; if not, executing step S13.

[0085] Step S12: taking the first left motor request torque as the left motor target torque, and taking the first right motor request torque as the right motor target torque.

[0086] Step S13, determine whether the shaft requests a torque increase, if so, execute step S15; if not, execute step S14.

[0087] In step S14, the smaller of the left wheel yaw torque and the left motor request torque is used as the left motor target torque, and the smaller of the right wheel yaw torque and the right motor request torque is used as the right motor target torque.

[0088] In step S15, the larger one of the left wheel yaw torque and the left motor request torque is used as the left motor target torque, and the larger one of the right wheel yaw torque and the right motor request torque is used as the right motor target torque.

[0089] Step S16, obtaining the friction coefficient of the current road surface and the lateral acceleration of the vehicle; selecting a target lateral acceleration-yaw moment tolerance threshold correspondence calibration table corresponding to the friction coefficient from the database; querying the target lateral acceleration-yaw moment tolerance threshold correspondence calibration table according to the lateral acceleration, and obtaining the yaw moment tolerance threshold corresponding to the lateral acceleration.

[0090] Step S17, limiting the target torque of the left motor according to the set maximum available torque limit of the left motor; limiting the target torque of the right motor according to the set maximum available torque limit of the right motor.

[0091] Step S18, determining whether there is a slipping wheel among the left wheel and the right wheel, if yes, executing step S20; if no, executing step S19.

[0092] Step S19, outputting the limited left motor target torque and the limited right motor target torque, so as to distribute torque to the left motor according to the limited left motor target torque, and distribute torque to the right motor according to the limited right motor target torque.

[0093] Step S20, determining whether one of the left wheel and the right wheel slips, if so, executing step S21; if not, executing step S18.

[0094] Step S21, transferring the torque reduction of the motor corresponding to the wheel that has slipped to the motor corresponding to the wheel that has not slipped.

[0095] Step S22, determining whether the first yaw moment deviation generated during the torque transfer process is less than or equal to the yaw moment tolerance threshold, if so, executing step S24; if not, executing step S23.

[0096] Step S23, reducing the torque transfer amount from the motor corresponding to the wheel with slip to the motor corresponding to the wheel without slip, until the first yaw moment deviation generated in the torque transfer process is less than or equal to the yaw moment tolerance threshold.

[0097] In step S24, the current torque of the motor corresponding to the left wheel after the torque transfer is used as the restricted left motor target torque, and the current torque of the motor corresponding to the right wheel after the torque transfer is used as the restricted right motor target torque.

[0098] Step S25, determining whether both the left wheel and the right wheel slip, if so, executing step S26; if not, executing step S18.

[0099] Step S26, obtaining a second yaw moment deviation according to the torque variation after the left wheel and the right wheel slip.

[0100] Step S27, determining whether the second yaw moment deviation is less than or equal to the yaw moment tolerance threshold, if so, executing step S29; if not, executing step S28.

[0101] Step S28, the current torque of the motor corresponding to the right wheel is calculated based on the current torque of the motor corresponding to the left wheel after slipping and the yaw moment tolerance threshold, and the current torque of the motor corresponding to the left wheel after slipping is used as the target torque of the left motor after limitation, and the calculated current torque of the motor corresponding to the right wheel is used as the target torque of the right motor after limitation.

[0102] In step S29, the current torque of the motor corresponding to the left wheel after slipping is used as the restricted left motor target torque, and the current torque of the motor corresponding to the right wheel after slipping is used as the restricted right motor target torque.

[0103] Step S30, obtaining the power request of each motor of the vehicle.

[0104] Step S31, obtaining a total power request of the vehicle according to the power requests of the motors of the vehicle.

[0105] Step S32: obtaining reallocatable power according to the difference between the total power demand and the preset power limit.

[0106] Step S33, calculating the proportion of the power request of each motor in the total power request, and allocating the reallocatable power to the corresponding motor according to the proportion.

[0107] According to the torque distribution method of the embodiment of the present invention, the driving state of the vehicle under different driving conditions can be monitored in real time through relevant sensors or controllers on the vehicle, and the vehicle's driving data, such as the left wheel yaw torque and the right rear wheel yaw torque of the vehicle, are obtained, the slip rate of the left wheel and the right wheel are respectively controlled, and the left motor request torque and the right motor request torque based on the slip rate control are obtained, and the left motor target torque is determined according to the left rear wheel yaw torque and the left motor request torque, and the right motor target torque is determined according to the right rear wheel yaw torque and the right motor request torque, so that the left motor is reasonably distributed according to the left motor target torque, and the right motor is reasonably distributed according to the right motor target torque, so as to ensure that the left and right motors of the vehicle can operate efficiently and make full use of the torque, thereby improving the power and stability of the vehicle.

[0108] Reference below Figure 3 The torque distribution device 2 according to the embodiment of the present invention will be described.

[0109] like Figure 3 As shown, the torque distribution device 2 of the embodiment of the present invention includes: an acquisition module 21, a determination module 22 and a control module 23, wherein:

[0110] The acquisition module 21 is used to acquire the left wheel yaw moment, the right wheel yaw moment and the left motor requested torque and the right motor requested torque after slip rate control of the vehicle, wherein the left wheel, the right wheel, the left motor and the right motor are connected to the same axis of the vehicle; the determination module 22 is used to determine the left motor target torque according to the left wheel yaw moment and the left motor requested torque, and to determine the right motor target torque according to the right wheel yaw moment and the right motor requested torque; the control module 23 is used to allocate torque to the left motor according to the left motor target torque, and to allocate torque to the right motor according to the right motor target torque.

[0111] In an embodiment, the acquisition module 21 can monitor the driving state of the vehicle under different driving conditions in real time through relevant sensors or controllers on the vehicle, and acquire the vehicle's driving data, such as the left wheel yaw moment and the right wheel yaw moment of the vehicle, perform slip rate control on the left wheel, and output a torque request, i.e., the torque requested by the left motor after slip rate control, perform slip rate control on the right wheel, and output a torque request, i.e., the torque requested by the right motor after slip rate control. For example, the yaw moment of the left rear wheel and the yaw moment of the right rear wheel of the vehicle are obtained, the slip rate of the left wheel of the rear axle is controlled, and a torque request is output, i.e., the torque requested by the left motor of the rear axle after slip rate control is performed, the slip rate of the right wheel of the rear axle is controlled, and a torque request is output, i.e., the torque requested by the right motor of the rear axle after slip rate control is performed; or the yaw moment of the left front wheel and the right front wheel of the vehicle are obtained, the slip rate of the left wheel of the front axle is controlled, and a torque request is output, i.e., the torque requested by the left motor of the front axle after slip rate control is performed, the slip rate of the right wheel of the front axle is controlled, and a torque request is output, i.e., the torque requested by the right motor of the front axle after slip rate control is performed. By obtaining the above-mentioned driving data, it is convenient to determine the target torque of the left motor and the target torque of the right motor according to the above-mentioned driving data, and then control the vehicle to distribute torque to the left motor and the right motor according to the above-mentioned parameters. Among them, the same axle of the vehicle can be the front axle or the rear axle. If it is the front axle of the vehicle, the left wheel is the left front wheel, the right wheel is the right front wheel, the left motor is the left motor of the front axle, and the right motor is the right motor of the front axle; if it is the rear axle of the vehicle, the left wheel is the left rear wheel, the right wheel is the right rear wheel, the left motor is the left motor of the rear axle, and the right motor is the right motor of the rear axle. The left wheel yaw moment is the torque request of the current output of the left wheel of the vehicle, the right wheel yaw moment is the torque request of the current output of the right wheel of the vehicle, the left motor request torque is the torque request output by the left motor based on the slip rate control, and the right motor request torque is the torque request output by the right motor based on the slip rate control. It can be understood that the above parameters will change according to the different driving states of the vehicle. Specifically, the vehicle is equipped with a slip rate control module, for example, which can control the slip rate of each wheel based on the slip rate, and then output the torque request of the left and right motors.

[0112] The determination module 22 determines the corresponding left motor target torque according to the left wheel yaw torque and the left motor request torque, and determines the corresponding right motor target torque according to the right wheel yaw torque and the right motor request torque. For example, after obtaining the left rear wheel yaw torque and the rear axle left motor request torque based on the slip rate control, the right rear wheel yaw torque and the rear axle right motor request torque based on the slip rate control of the vehicle, the corresponding rear axle left motor target torque is determined according to the left rear wheel yaw torque and the rear axle left motor request torque, and the corresponding rear axle right motor target torque is determined according to the right rear wheel yaw torque and the rear axle right motor request torque, so as to reasonably distribute the torque of the rear axle left motor and the rear axle right motor of the vehicle according to the above parameters. Alternatively, after obtaining the left front wheel yaw torque of the vehicle and the requested torque of the left motor of the front axle after the slip rate control, the right front wheel yaw torque and the requested torque of the right motor of the front axle after the slip rate control, the corresponding target torque of the left motor of the front axle is determined according to the left front wheel yaw torque and the requested torque of the left motor of the front axle, and the corresponding target torque of the right motor of the front axle is determined according to the right front wheel yaw torque and the requested torque of the right motor of the front axle, so as to reasonably distribute the torque to the left motor of the front axle and the right motor of the rear axle according to the above parameters, so that the left motor and the right motor always run efficiently, thereby ensuring that the vehicle can use the torque more effectively. Among them, the target torque of the left motor is the torque request allocated to the left motor, and the target torque of the right motor is the torque request allocated to the right motor. By determining the above parameters, data support can be provided for the reasonable distribution of the vehicle torque, and the real-time monitoring of the vehicle itself and the adaptive distribution of the torque can be realized, so that the wheels of the vehicle can ensure that the vehicle can use the torque more effectively under different slip states, thereby improving the efficiency of the vehicle torque distribution.

[0113] The control module 23 reasonably distributes torque to the left motor according to the target torque of the left motor, and after determining the target torque of the right motor, reasonably distributes torque to the right motor according to the target torque of the right motor, that is, reasonably distributes torque to the left motor of the rear axle of the vehicle according to the target torque of the rear axle left motor, and reasonably distributes torque to the right motor of the rear axle of the vehicle according to the target torque of the rear axle right motor; or reasonably distributes torque to the left motor of the front axle of the vehicle according to the target torque of the front axle left motor, and reasonably distributes torque to the right motor of the front axle of the vehicle according to the target torque of the front axle right motor, so that the left motor and the right motor always operate efficiently, ensuring that the vehicle can more effectively utilize torque, thereby improving the power and stability of the vehicle.

[0114] According to the torque distribution device 2 of the embodiment of the present invention, the driving state of the vehicle under different driving conditions can be monitored in real time through relevant sensors or controllers on the vehicle, and the driving data of the vehicle can be obtained, such as the yaw torque of the left wheel and the yaw torque of the right rear wheel of the vehicle, and the slip rate of the left wheel and the right wheel can be controlled respectively, and the requested torque of the left motor and the requested torque of the right motor based on the slip rate control can be obtained, and the target torque of the left motor is determined according to the yaw torque of the left rear wheel and the requested torque of the left motor, and the target torque of the right motor is determined according to the yaw torque of the right rear wheel and the requested torque of the right motor, so as to reasonably distribute the torque to the left motor according to the target torque of the left motor, and reasonably distribute the torque to the right motor according to the target torque of the right motor, so as to ensure that the left and right motors of the vehicle can operate efficiently and make full use of the torque, thereby improving the power and stability of the vehicle.

[0115] In some embodiments, the determination module 22 determines the target torque of the left motor based on the left wheel yaw torque and the left motor requested torque, and determines the target torque of the right motor based on the right wheel yaw torque and the right motor requested torque, and is specifically used for: when the shaft requests a torque increase, the larger of the left wheel yaw torque and the left motor requested torque is used as the left motor target torque, and the larger of the right wheel yaw torque and the right motor requested torque is used as the right motor target torque; when the shaft requests a torque decrease, the smaller of the left wheel yaw torque and the left motor requested torque is used as the left motor target torque, and the smaller of the right wheel yaw torque and the right motor requested torque is used as the right motor target torque.

[0116] In some embodiments, the determination module 22 is also specifically used to: if a first left motor request torque and a first right motor request torque sent by the vehicle's body electronic stability control system are received, the first left motor request torque is used as the left motor target torque, and the first right motor request torque is used as the right motor target torque.

[0117] In some embodiments, after determining the target torque of the rear axle left motor and the target torque of the rear axle right motor, the control module 23 is specifically used to: limit the target torque of the left motor according to the set maximum available torque limit of the left motor; limit the target torque of the right motor according to the set maximum available torque limit of the right motor; redistribute the torque of the vehicle according to the limited target torque of the left motor and the limited target torque of the right motor.

[0118] In some embodiments, when the control module 23 redistributes the torque of the vehicle according to the limited left motor target torque and the limited right motor target torque, it is specifically used to: determine whether there is a slipping wheel among the left and right wheels; if neither the left wheel nor the right wheel slips, the limited left motor target torque and the limited right motor target torque are output, so that the torque is distributed to the left motor according to the limited left motor target torque, and the torque is distributed to the right motor according to the limited right motor target torque.

[0119] In some embodiments, when the control module 23 redistributes the torque of the vehicle according to the limited left motor target torque and the limited right motor target torque, it is also specifically used to: if one of the left wheel and the right wheel slips, the torque reduction of the motor corresponding to the slipping wheel is transferred to the motor corresponding to the non-slipping wheel, and it is determined whether the first yaw moment deviation generated in the torque transfer process is less than or equal to the yaw moment tolerance threshold; if so, the current torque of the motor corresponding to the left wheel after the torque transfer is used as the limited left motor target torque, and the current torque of the motor corresponding to the right wheel after the torque transfer is used as the limited right motor target torque; otherwise, the torque transfer amount from the motor corresponding to the slipping wheel to the motor corresponding to the non-slipping wheel is reduced until the first yaw moment deviation generated in the torque transfer process is less than or equal to the yaw moment tolerance threshold, and the current torque of the motor corresponding to the left wheel after the torque transfer is used as the limited left motor target torque, and the current torque of the motor corresponding to the right wheel after the torque transfer is used as the limited right motor target torque.

[0120] In some embodiments, when the control module 23 redistributes the torque of the vehicle according to the limited left motor target torque and the limited right motor target torque, it is also specifically used for: if both the left wheel and the right wheel slip, then a second yaw moment deviation is obtained according to the torque change after the left and right wheels slip; whether the second yaw moment deviation is less than or equal to the yaw moment tolerance threshold is determined; if so, the current torque of the motor corresponding to the left wheel after the slip is used as the limited left motor target torque, and the current torque of the motor corresponding to the right wheel after the slip is used as the limited right motor target torque; otherwise, the current torque of the motor corresponding to the right wheel is calculated according to the current torque of the motor corresponding to the left wheel after the slip and the yaw moment tolerance threshold, the current torque of the motor corresponding to the left wheel after the slip is used as the limited left motor target torque, and the calculated current torque of the motor corresponding to the right wheel is used as the limited right motor target torque.

[0121] In some embodiments, when the acquisition module 21 acquires the yaw moment tolerance threshold, it is specifically used to: acquire the friction coefficient of the current road surface and the lateral acceleration of the vehicle; select a target lateral acceleration-yaw moment tolerance threshold correspondence calibration table corresponding to the friction coefficient from a database; query the target lateral acceleration-yaw moment tolerance threshold correspondence calibration table according to the lateral acceleration, and obtain the yaw moment tolerance threshold corresponding to the lateral acceleration, wherein different friction coefficient levels correspond to different target lateral acceleration-yaw moment tolerance threshold correspondence calibration tables.

[0122] In some embodiments, after the control module 23 redistributes the torque of the vehicle according to the limited left motor target torque and the limited right motor target torque, it is also specifically used to: obtain the power request of each motor of the vehicle; and redistribute power to each motor based on the power request of each motor of the vehicle.

[0123] In some embodiments, when the control module 23 redistributes power to each motor based on the power requests of each motor of the vehicle, it is specifically used to: obtain a total power request for the vehicle based on the power requests of each motor of the vehicle; determine the redistributable power based on the total power request; calculate the proportion of the power request of each motor in the total power request; and allocate the redistributable power to the corresponding motors according to the proportion.

[0124] In some embodiments, when the control module 23 determines the reallocatable power according to the total power request, it is specifically configured to: obtain the reallocatable power according to the difference between the total power demand and the preset power limit.

[0125] According to the torque distribution device 2 of the embodiment of the present invention, the driving state of the vehicle under different driving conditions can be monitored in real time through relevant sensors or controllers on the vehicle, and the driving data of the vehicle can be obtained, such as the yaw torque of the left wheel and the yaw torque of the right rear wheel of the vehicle, and the slip rate of the left wheel and the right wheel can be controlled respectively, and the requested torque of the left motor and the requested torque of the right motor based on the slip rate control can be obtained, and the target torque of the left motor is determined according to the yaw torque of the left rear wheel and the requested torque of the left motor, and the target torque of the right motor is determined according to the yaw torque of the right rear wheel and the requested torque of the right motor, so as to reasonably distribute the torque to the left motor according to the target torque of the left motor, and reasonably distribute the torque to the right motor according to the target torque of the right motor, so as to ensure that the left and right motors of the vehicle can operate efficiently and make full use of the torque, thereby improving the power and stability of the vehicle.

[0126] Reference below Figure 4 and Figure 5 A vehicle 3 according to an embodiment of the present invention will be described.

[0127] 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.

[0128] 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.

[0129] According to the vehicle 3 of the embodiment of the present invention, the driving state of the vehicle under different driving conditions can be monitored in real time through relevant sensors or controllers on the vehicle, and the vehicle's driving data, such as the left wheel yaw torque and the right rear wheel yaw torque of the vehicle, respectively control the slip rate of the left wheel and the right wheel, obtain the left motor request torque and the right motor request torque based on the slip rate control, determine the left motor target torque according to the left rear wheel yaw torque and the left motor request torque, and determine the right motor target torque according to the right rear wheel yaw torque and the right motor request torque, so as to reasonably distribute the torque to the left motor according to the left motor target torque, and reasonably distribute the torque to the right motor according to the right motor target torque, so as to ensure that the left and right motors of the vehicle can operate efficiently and make full use of the torque, thereby improving the power and stability of the vehicle.

[0130] The following describes a computer-readable storage medium according to an embodiment of the present invention.

[0131] 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.

[0132] According to the computer-readable storage medium of the embodiment of the present invention, when the torque distribution program stored thereon is executed by the processor, the driving state of the vehicle under different driving conditions can be monitored in real time through relevant sensors or controllers on the vehicle, and the driving data of the vehicle can be obtained, such as the yaw torque of the left wheel and the yaw torque of the right rear wheel of the vehicle, and the slip rate of the left wheel and the right wheel are controlled respectively, and the requested torque of the left motor and the requested torque of the right motor after the slip rate control are obtained, and the target torque of the left motor is determined according to the yaw torque of the left rear wheel and the requested torque of the left motor, and the target torque of the right motor is determined according to the yaw torque of the right rear wheel and the requested torque of the right motor, so as to reasonably distribute the torque to the left motor according to the target torque of the left motor, and reasonably distribute the torque to the right motor according to the target torque of the right motor, so as to ensure that the left and right motors of the vehicle can operate efficiently and make full use of the torque, thereby improving the power and stability of the vehicle.

[0133] 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.

[0134] 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: Acquire a left wheel yaw moment, a right wheel yaw moment, and a left motor request torque and a right motor request torque after slip rate control of the vehicle, wherein the left wheel, the right wheel, the left motor, and the right motor are connected to the same shaft of the vehicle; Determine a left motor target torque according to the left wheel yaw moment and the left motor request torque, and determine a right motor target torque according to the right wheel yaw moment and the right motor request torque; Torque is distributed to the left motor according to the left motor target torque, and torque is distributed to the right motor according to the right motor target torque.

2. The torque distribution method according to claim 1, characterized in that: Determining a left motor target torque according to the left wheel yaw moment and the left motor request torque, and determining a right motor target torque according to the right wheel yaw moment and the right motor request torque, comprising: When the shaft requests a torque increase, the larger of the left wheel yaw moment and the left motor request torque is used as the left motor target torque, and the larger of the right wheel yaw moment and the right motor request torque is used as the right motor target torque; When the shaft requests torque reduction, the smaller of the left wheel yaw torque and the left motor request torque is used as the left motor target torque, and the smaller of the right wheel yaw torque and the right motor request torque is used as the right motor target torque.

3. The torque distribution method according to claim 1, characterized in that: Also includes: If a first left motor request torque and a first right motor request torque sent by the vehicle body electronic stability control system are received, the first left motor request torque is used as the left motor target torque, and the first right motor request torque is used as the right motor target torque.

4. The torque distribution method according to claim 3, characterized in that: After determining the left motor target torque and the right motor target torque, the method further includes: Limiting the target torque of the left motor according to the set maximum available torque limit of the left motor; Limiting the right motor target torque according to the set right motor maximum available torque limit; The vehicle is torque redistributed according to the limited left motor target torque and the limited right motor target torque.

5. The torque distribution method according to claim 4, characterized in that: Redistributing the torque of the vehicle according to the limited left motor target torque and the limited right motor target torque includes: Determining whether there is a wheel slipping among the left wheel and the right wheel; If neither the left wheel nor the right wheel slips, the limited left motor target torque and the limited right motor target torque are output so that torque is distributed to the left motor according to the limited left motor target torque and torque is distributed to the right motor according to the limited right motor target torque.

6. The torque distribution method according to claim 5, characterized in that: The vehicle is subjected to torque redistribution according to the limited left motor target torque and the limited right motor target torque, further comprising: If one of the left wheel and the right wheel slips, a torque reduction of the motor corresponding to the wheel that slips is transferred to the motor corresponding to the wheel that does not slip, and whether a first yaw moment deviation generated in the torque transfer process is less than or equal to a yaw moment tolerance threshold is determined; If yes, the current torque of the motor corresponding to the left wheel after the torque transfer is used as the left motor target torque after the restriction, and the current torque of the motor corresponding to the right wheel after the torque transfer is used as the right motor target torque after the restriction; Otherwise, the torque transfer amount from the motor corresponding to the slipping wheel to the motor corresponding to the non-slipping wheel is reduced until the first yaw moment deviation generated in the torque transfer process is less than or equal to the yaw moment tolerance threshold, and the current torque of the motor corresponding to the left wheel after the torque transfer is used as the restricted left motor target torque, and the current torque of the motor corresponding to the right wheel after the torque transfer is used as the restricted right motor target torque.

7. The torque distribution method according to claim 6, characterized in that: The vehicle is subjected to torque redistribution according to the limited left motor target torque and the limited right motor target torque, further comprising: If both the left wheel and the right wheel slip, a second yaw moment deviation is obtained according to a torque change after the left wheel and the right wheel slip; determining whether the second yaw moment deviation is less than or equal to the yaw moment tolerance threshold; If yes, the current torque of the motor corresponding to the left wheel after slipping is used as the left motor target torque after restriction, and the current torque of the motor corresponding to the right wheel after slipping is used as the right motor target torque after restriction; Otherwise, the current torque of the motor corresponding to the right wheel is calculated based on the current torque of the motor corresponding to the left wheel after slipping and the yaw moment tolerance threshold, and the current torque of the motor corresponding to the left wheel after slipping is used as the target torque of the left motor after limitation, and the calculated current torque of the motor corresponding to the right wheel is used as the target torque of the right motor after limitation.

8. The torque distribution method according to claim 7, characterized in that: The method of obtaining the yaw moment tolerance threshold includes: Obtain the friction coefficient of the current road surface and the lateral acceleration of the vehicle; Selecting a target lateral acceleration-yaw moment tolerance threshold correspondence calibration table corresponding to the friction coefficient from a database; The target lateral acceleration-yaw moment tolerance threshold correspondence calibration table is queried according to the lateral acceleration to obtain the yaw moment tolerance threshold corresponding to the lateral acceleration, wherein different friction coefficient levels correspond to different target lateral acceleration-yaw moment tolerance threshold correspondence calibration tables.

9. The torque distribution method according to claim 4, characterized in that: After the torque of the vehicle is redistributed according to the limited left motor target torque and the limited right motor target torque, the method further includes: Obtaining a power request of each motor of the vehicle; Power is redistributed to the motors based on the power requests of the motors.

10. The torque distribution method according to claim 9, characterized in that: Redistributing power to each motor based on the power request of each motor of the vehicle includes: Obtaining a total power request of the vehicle according to the power requests of the motors of the vehicle; determining reallocatable power according to the total power request; Calculating the proportion of the power request of each motor in the total power request; The redistributable power is distributed to corresponding motors according to the proportions.

11. The torque distribution method according to claim 10, characterized in that: Determining the reallocatable power according to the total power request includes: The reallocatable power is obtained according to a difference between the total power demand and a preset power limit.

12. A vehicle, characterized in that: include: 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 11.

13. 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 11 is implemented.

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