Torque control method, vehicle and computer readable storage medium

Abstract

The invention provides a torque control method, a vehicle and a computer readable storage medium. The method comprises the steps that the initial driving torque of a left motor and a right motor of the same shaft of the vehicle is determined; acquiring a limiting torque corresponding to each initial driving torque; and according to the initial driving torques, the limiting torques and the torque limiting condition of the vehicle, the torques of the left motor and the right motor are coordinated, and the final torque of the left motor and the final torque of the right motor are output. 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 control are comprehensively considered, the torque of the left and right motors is more reasonably and accurately coordinated based on the factors, it is guaranteed that the left and right motors can efficiently operate, the torque is fully utilized, and the torque control efficiency is improved. 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 control 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 front and rear drive motors are arranged on the vehicle. Compared with single-motor drive, multi-motor drive is more convenient to control and has a faster response speed, thereby improving vehicle stability, or improving vehicle flexibility and driving pleasure. Among them, independent motor control has become a mainstream research direction.

[0003] In vehicles with independently controlled motors, such as single-axle dual-motor vehicles, the body stability system generates a yaw torque based on the braking force difference, corrects the vehicle state, and thereby improves the vehicle's driving flexibility or improves vehicle stability as needed.

[0004] However, when the driving force of the left and right wheels of the vehicle is too large using the above method, the vehicle's yaw moment deviation exceeds the required range due to limitations such as slip rate, available motor torque, and power. The longitudinal forces of the left and right wheels cannot be accurately controlled, and the vehicle's power and stability cannot be intelligently regulated. 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 control method, which comprehensively considers limiting factors such as the electronic stability control system of the vehicle body, slip rate, available torque and power of the motor and their impact on torque control, and based on these factors, coordinates the torque of the left and right motors more reasonably and accurately to ensure that the left and right motors 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 control 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 control method, which includes: determining the initial driving torque of the left motor and the right motor on the same axis of the vehicle; obtaining the limiting torque corresponding to each of the initial driving torques, wherein the limiting torque is the torque output after the initial driving torque is limited by at least one of the wheel slip limit, the body electronic stability control system torque request limit and the motor maximum available torque limit during the actual driving process of the vehicle; coordinating the torques of the left motor and the right motor according to each of the initial driving torques, each of the limiting torques and the torque limit of the vehicle, and outputting the final torque of the left motor and the final torque of the right motor.

[0011] According to the torque control 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 vehicle's feedback yaw moment, the vehicle's feedforward yaw moment, the vehicle's total driving torque and wheelbase, can be obtained. The initial driving torques of the left motor and the right motor on the same axis of the vehicle are determined according to the above driving data, and each initial driving torque is limited and adjusted through at least one of the wheel slip limit, the body electronic stability control system torque request limit and the motor's maximum available torque limit to obtain the limited torque corresponding to each initial driving torque. The left motor and the right motor of the vehicle are reasonably coordinated in torque according to different torque limit conditions of the vehicle to output the final torque of the left motor and the final torque of the right motor, so that the left motor and the right motor can always operate efficiently, ensuring that the vehicle can more effectively utilize the torque, thereby improving the vehicle's power and stability.

[0012] In some embodiments, the torques of the left motor and the right motor are coordinated according to the initial driving torques, the limiting torques and the torque limit of the vehicle, including: when the torque request limit of the vehicle electronic stability control system is activated and a torque reduction request is issued, the torques of the left motor and the right motor are not coordinated, and the limiting torques corresponding to each of the left motor and the right motor are respectively used as the final torque of the left motor and the final torque of the right motor.

[0013] In some embodiments, the torques of the left motor and the right motor are coordinated according to the initial driving torques, the limiting torques and the torque limit of the vehicle, including: when the wheel slip limit and the maximum available torque limit of the motor are not activated, the torques of the left motor and the right motor are not coordinated, and the limiting torques corresponding to each of the left motor and the right motor are respectively used as the final torque of the left motor and the final torque of the right motor.

[0014] In some embodiments, the torque of the left motor and the right motor are coordinated according to each of the initial driving torques, each of the limiting torques and the torque limit of the vehicle, including: when one of the left motor and the right motor has a motor maximum available torque limitation, and / or its corresponding wheel has a wheel slip limitation, and the other of the left motor and the right motor has not had a motor maximum available torque limitation and its corresponding wheel has not had a wheel slip limitation, then it is determined whether a first preset condition is met; if the first preset condition is met, the torque of the left motor and the right motor are coordinated in a first torque coordination manner; if the first preset condition is not met, the torque of the left motor and the right motor are coordinated in a second torque coordination manner.

[0015] In some embodiments, when the left motor has a maximum available torque limit, and / or its corresponding left wheel has a wheel slip limit, and the right motor has no maximum available torque limit and its corresponding right wheel has no wheel slip limit, the first preset condition includes:

[0016]

[0017] When the right motor has a maximum available torque limit, and / or its corresponding right wheel has a wheel slip limit, and the left motor has no maximum available torque limit and its corresponding left wheel has no wheel slip limit, the first preset condition includes:

[0018]

[0019] Among them, Fx rreq is the initial driving torque of the right motor, Fx lreq is the initial driving torque of the left motor, Fx rlim0 is the limiting torque of the right motor, Fx llim0 is the limit torque of the left motor, Track is the wheelbase, Tq tor is the preset tolerance threshold.

[0020] In some embodiments, when the left motor has a maximum available torque limit, and / or its corresponding left wheel has a wheel slip limit, and the right motor has no maximum available torque limit and its corresponding right wheel has no wheel slip limit, the first torque coordination method includes:

[0021] Fx llim =Fx llim0 ;

[0022] Fx rlim =Fx rreq +(Fx llim -Fxlreq );

[0023] When the right motor has a maximum available torque limit, and / or its corresponding right wheel has a wheel slip limit, and the left motor has no maximum available torque limit and its corresponding left wheel has no wheel slip limit, the first torque coordination method includes:

[0024] Fx rlim =Fx rlim0 ;

[0025] Fx llim =Fx lreq +(Fx rlim -Fx rreq );

[0026] Among them, Fx llim is the final torque of the left motor, Fx rlim is the final torque of the right motor.

[0027] In some embodiments, when the left motor has a maximum available torque limit, and / or its corresponding left wheel has a wheel slip limit, and the right motor has no maximum available torque limit and its corresponding right wheel has no wheel slip limit, the second torque coordination method includes:

[0028] Fx llim =Fx llim0 ;

[0029]

[0030] When the right motor has a maximum available torque limit, and / or its corresponding right wheel has a wheel slip limit, and the left motor has no maximum available torque limit and its corresponding left wheel has no wheel slip limit, the second torque coordination mode includes:

[0031] Fx rlim =Fx rlim0 ;

[0032]

[0033] Among them, Fx llim is the final torque of the left motor, Fx rlim is the final torque of the right motor.

[0034] In some embodiments, the torque of the left motor and the right motor are coordinated according to the initial driving torques, the limiting torques and the torque limit of the vehicle, including: when the wheels corresponding to the left motor and the right motor are both subject to wheel slip limitation, and / or the maximum available torque of the left motor and the right motor are both subject to motor limit, it is determined whether a second preset condition is met; if the second preset condition is met, the torque of the left motor and the right motor are coordinated in accordance with a third torque coordination method; if the second preset condition is not met, it is determined whether the third preset condition is met; if the third preset condition is met, the torque of the left motor and the right motor are coordinated in accordance with a fourth torque coordination method; if the third preset condition is met, the torque of the left motor and the right motor are coordinated in accordance with a fifth torque coordination method.

[0035] In some embodiments, the second preset condition includes:

[0036]

[0037] Among them, Fx rreq is the initial driving torque of the right motor, Fx lreq is the initial driving torque of the left motor, Fx rlim0 is the limiting torque of the right motor, Fx llim0 is the limit torque of the left motor, Track is the wheelbase, Tq tor is the preset tolerance threshold.

[0038] In some embodiments, the third torque coordination method includes:

[0039] Fx llim =Fx llim0 ;

[0040] Fx rlim =Fx rlim0 ;

[0041] Among them, Fx llim is the final torque of the left motor, Fx rlim is the final torque of the right motor.

[0042] In some embodiments, the third preset condition includes:

[0043] abs(Fx llim0 -Fx lreq )≥abs(Fx rlim0 -Fx rreq ).

[0044] In some embodiments, the fourth torque coordination method includes:

[0045] Fx llim =Fx llim0 ;

[0046]

[0047] Among them, Fx llim is the final torque of the left motor, Fx rlim is the final torque of the right motor.

[0048] In some embodiments, the fifth torque coordination method includes:

[0049] Fx rlim =Fx rlim0 ;

[0050]

[0051] In some embodiments, after outputting the final torque of the left motor and the right motor, the method further includes: obtaining power requests of the motors of the vehicle; and redistributing power to the motors based on the power requests of the motors of the vehicle.

[0052] 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.

[0053] 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 request and a preset power limit.

[0054] In some embodiments, determining the initial driving torque of the left motor and the right motor of the same shaft of the vehicle includes:

[0055] Fx rreq =0.5*Fx0+D fx ;

[0056] Fx lreq =0.5*Fx0-D fx ;

[0057]

[0058] Among them, Fx rreq is the initial driving torque of the right motor, Fx lreq is the initial driving torque of the left motor, D fxis the torque difference between the wheel corresponding to the left motor and the wheel corresponding to the right motor in the longitudinal direction, M z,rr is the feedback yaw moment of the vehicle, M z,ff is the feedforward yaw moment of the vehicle, Fx0 is the total driving torque of the vehicle, and Track is the wheelbase.

[0059] In some embodiments, the feedforward yaw moment is calculated by the following formula:

[0060]

[0061] Among them, M z，ff is the feedforward yaw moment, r z，ref is the target yaw rate of the vehicle, r z，pas is the passive yaw rate of the vehicle, C f is the front wheel cornering stiffness, C r is the rear wheel cornering stiffness, a is the distance from the vehicle center of mass to the front axle, b is the distance from the vehicle center of mass to the rear axle, v x is the longitudinal speed of the vehicle, and m is the vehicle mass.

[0062] In some embodiments, the feedback yaw moment is calculated by the following formula:

[0063]

[0064] Among them, M z,rr is the feedback yaw moment, e(t) is the difference between the target yaw rate and the actual yaw rate of the vehicle, I is the integral coefficient, P is the proportional coefficient, and D is the differential coefficient.

[0065] In order to achieve the above-mentioned purpose, an embodiment of the second aspect of the present invention proposes a torque control device, which includes: a determination module, used to determine the initial driving torque of the left motor and the right motor on the same axis of the vehicle; an acquisition module, used to obtain the limiting torque corresponding to the initial driving torque, wherein the limiting torque is the torque output after the initial driving torque is limited by at least one of the wheel slip limit, the body electronic stability control system torque request limit and the motor maximum available torque limit during the actual driving process of the vehicle; a control module, used to coordinate the torque of the left motor and the right motor according to the initial driving torque, the limiting torque and the torque limit of the vehicle, and output the final torque of the left motor and the final torque of the right motor.

[0066] According to the torque control 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 vehicle's feedback yaw moment, the vehicle's feedforward yaw moment, the vehicle's total driving torque and wheelbase, can be obtained. The initial driving torques of the left motor and the right motor on the same axis of the vehicle can be determined based on the above driving data, and each initial driving torque can be limited and adjusted through at least one of the wheel slip limit, the body electronic stability control system torque request limit and the motor's maximum available torque limit to obtain the limited torque corresponding to each initial driving torque. The left motor and the right motor of the vehicle can be reasonably coordinated in torque according to different torque limit conditions of the vehicle to output the final torque of the left motor and the final torque of the right motor, so that the left motor and the right motor can always operate efficiently, ensuring that the vehicle can more effectively utilize the torque, thereby improving the vehicle's power and stability.

[0067] In order to achieve the above-mentioned purpose, an embodiment of the third aspect of the present invention proposes a vehicle, which includes: a vehicle torque control device as described in the above-mentioned embodiment; or, the vehicle includes: a processor, a memory, and a torque control program stored in the memory and executable on the processor, and when the torque control program is executed by the processor, the torque control method as described in the above-mentioned embodiment is implemented.

[0068] 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 driving data of the vehicle can be obtained, such as the feedback yaw moment of the vehicle, the feedforward yaw moment of the vehicle, the total driving torque of the vehicle and the wheelbase. The initial driving torque of the left motor and the right motor on the same axis of the vehicle are determined according to the above driving data, and each initial driving torque is limited and adjusted through at least one of the wheel slip limit, the body electronic stability control system torque request limit and the motor maximum available torque limit to obtain the limit torque corresponding to each initial driving torque. The left motor and the right motor of the vehicle are reasonably coordinated in torque according to the different torque limit conditions of the vehicle to output the final torque of the left motor and the final torque of the right motor, so that the left motor and the right motor can always operate efficiently, ensuring that the vehicle can more effectively utilize the torque, thereby improving the power and stability of the vehicle.

[0069] In order to achieve the above-mentioned purpose, an embodiment of the fourth aspect of the present invention proposes a computer-readable storage medium, on which a torque control program is stored. When the torque control program is executed by a processor, the torque control method as described in the above-mentioned embodiment is implemented.

[0070] According to the computer-readable storage medium of the embodiment of the present invention, when the torque control program stored thereon is executed by the processor, the driving state of 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 vehicle's feedback yaw moment, the vehicle's feedforward yaw moment, the vehicle's total driving torque and wheelbase, can be obtained. The initial driving torques of the left motor and the right motor on the same axis of the vehicle are determined according to the above driving data, and each initial driving torque is limited and adjusted through at least one of the wheel slip limit, the body electronic stability control system torque request limit and the motor's maximum available torque limit to obtain the limited torque corresponding to each initial driving torque. The left motor and the right motor of the vehicle are reasonably coordinated in torque according to different torque limit conditions of the vehicle to output the final torque of the left motor and the final torque of the right motor, so that the left motor and the right motor can always operate efficiently, ensuring that the vehicle can more effectively utilize the torque, thereby improving the vehicle's power and stability.

[0071] 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

[0072] 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:

[0073] Figure 1 is a flow chart of a torque control method according to an embodiment of the present invention;

[0074] Figure 2 is a flow chart of a torque control method according to another embodiment of the present invention;

[0075] Figure 3 is a structural block diagram of a torque control device according to an embodiment of the present invention;

[0076] Figure 4 is a structural block diagram of a vehicle according to an embodiment of the present invention;

[0077] Figure 5 is a structural block diagram of a vehicle according to another embodiment of the present invention.

[0078] Reference numerals: torque control device 2 ; acquisition module 21 ; determination module 22 ; control module 23 ; vehicle 3 ; processor 100 ; memory 101 ; torque control program 102 . DETAILED DESCRIPTION

[0079] 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.

[0080] Combine the following Figure 1 and Figure 2 The torque control method according to the embodiment of the present invention is described with examples.

[0081] like Figure 1 As shown, the torque control method of the embodiment of the present invention at least includes steps S1 to S3.

[0082] Step S1, determining the initial driving torque of the left motor and the right motor on the same shaft of the vehicle.

[0083] Among them, the same axis 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 initial driving torque is the torque request of the current output of the motor without torque vector control, that is, the current state information of the vehicle. It can be understood that the above data will change according to the different driving states of the vehicle.

[0084] 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 feedback yaw moment of the vehicle, the feedforward yaw moment of the vehicle, the total driving torque of the vehicle and the wheelbase. By obtaining the above data, it is convenient to determine the initial driving torque of the left motor and the right motor of the same axis of the vehicle, that is, the initial driving torque of the left motor and the initial driving torque of the right motor according to the above data. Among them, the left motor and the right motor of the same axis include the front axle left motor and the front axle right motor, or the rear axle left motor and the rear axle right motor. For example, the initial driving torque corresponding to the front axle left motor and the front axle right motor of the vehicle is determined, and then the vehicle is controlled to perform torque control on the left and right motors of the front axle, or the initial driving torque corresponding to the rear axle left motor and the rear axle right motor of the vehicle is determined, and then the vehicle is controlled to perform torque control on the left and right motors of the rear axle.

[0085] Step S2, obtaining the limiting torque corresponding to each initial driving torque (such as the initial driving torque of the left motor and the initial driving torque of the right motor), wherein the limiting torque is the torque output after the initial driving torque is limited by at least one of the wheel slip limit, the body electronic stability control system torque request limit and the motor maximum available torque limit during the actual driving process of the vehicle. That is, the initial driving torque of the left motor is limited by at least one of the wheel slip limit, the body electronic stability control system torque request limit and the motor maximum available torque limit, and then the limiting torque corresponding to the left motor is output, that is, the limiting torque corresponding to the initial driving torque of the left motor; the initial driving torque of the right motor is limited by at least one of the wheel slip limit, the body electronic stability control system torque request limit and the motor maximum available torque limit, and then the limiting torque corresponding to the right motor is output, that is, the limiting torque corresponding to the initial driving torque of the right motor.

[0086] Among them, the limit torque is the torque output after the initial drive torque of the left motor and the right motor is limited and adjusted when the initial drive torque of the left motor and the right motor is limited by the conditions such as the wheel slip limit activation, the torque request limit activation of the body electronic stability control system, or the maximum available torque limit activation during the actual driving of the vehicle, resulting in excessive slip rate. By determining the limit torque, data support can be provided for the reasonable coordination of the torque of the left motor and the right motor of the vehicle, and the real-time monitoring of the vehicle itself and the adaptive coordination of the motor torque can be realized, so that the vehicle can ensure that the torque can be used more effectively in different slip states, avoiding the problem of large fluctuations in output torque affecting the vehicle's operational stability.

[0087] In an embodiment, after determining the initial driving torques of the left motor and the right motor on the same axis of the vehicle, each initial driving torque is limited and adjusted according to the specific situation of the vehicle through at least one of the wheel slip limit, the body electronic stability control system torque request limit and the motor maximum available torque limit. The torque output after limitation is used as the limiting torque corresponding to the initial driving torque. According to each limiting torque (i.e., the limiting torque of the left motor and the limiting torque of the right motor), the left motor and the right motor of the vehicle are reasonably coordinated in torque, so that the left motor and the right motor always operate efficiently, thereby ensuring that the vehicle can utilize torque more effectively.

[0088] Step S3 , coordinating the torques of the left motor and the right motor according to each initial driving torque, each limiting torque and the torque limit of the vehicle, and outputting the final torque of the left motor and the final torque of the right motor.

[0089] In an embodiment, after determining the initial driving torques of the left motor and the right motor on the same axis of the vehicle and the limiting torques corresponding to the initial driving torques, the torques of the left motor and the right motor of the vehicle are reasonably coordinated according to the torque limit of the vehicle to output the final torque of the left motor and the final torque of the right motor, so that the left motor and the right motor can always operate efficiently, ensuring that the vehicle can utilize torque more effectively, thereby improving the power and stability of the vehicle.

[0090] 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.

[0091] According to the torque control 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 vehicle's feedback yaw moment, the vehicle's feedforward yaw moment, the vehicle's total driving torque and wheelbase, can be obtained. The initial driving torques of the left motor and the right motor on the same axis of the vehicle are determined according to the above driving data, and each initial driving torque is limited and adjusted through at least one of the wheel slip limit, the body electronic stability control system torque request limit and the motor's maximum available torque limit to obtain the limited torque corresponding to each initial driving torque. The left motor and the right motor of the vehicle are reasonably coordinated in torque according to different torque limit conditions of the vehicle to output the final torque of the left motor and the final torque of the right motor, so that the left motor and the right motor can always operate efficiently, ensuring that the vehicle can more effectively utilize the torque, thereby improving the vehicle's power and stability.

[0092] In some embodiments, the torques of the left motor and the right motor are coordinated according to each initial driving torque, each limiting torque and the torque limit of the vehicle, including: when the torque request limit of the vehicle electronic stability control system is activated and a torque reduction request is issued, the torques of the left motor and the right motor are not coordinated, and the limiting torques corresponding to each of the left motor and the right motor are respectively used as the final torque of the left motor and the final torque of the right motor.

[0093] In an embodiment, after determining the initial driving torques of the left motor and the right motor on the same axis of the vehicle and the limiting torques corresponding to the initial driving torques, when the torque request limit of the body electronic stability control system is activated and a torque reduction request is issued, it is considered that the torques of the left motor and the right motor of the vehicle can meet the requirements of maintaining the operational stability of the vehicle, and then the torques of the left motor and the right motor are not coordinated, and the limiting torques corresponding to each of the left motor and the right motor are directly used as the final torque of the left motor and the final torque of the right motor, respectively, to improve the power and stability of the vehicle.

[0094] In some embodiments, the torques of the left motor and the right motor are coordinated according to each initial driving torque, each limiting torque and the torque limit of the vehicle, including: when the wheel slip limit and the maximum available torque limit of the motor are not activated, the torques of the left motor and the right motor are not coordinated, and the limiting torques corresponding to each of the left motor and the right motor are respectively used as the final torque of the left motor and the final torque of the right motor.

[0095] In an embodiment, after determining the initial driving torques of the left motor and the right motor on the same axis of the vehicle and the limiting torques corresponding to the initial driving torques, when the wheel slip limit and the motor maximum available torque limit are not activated, it is considered that the torques of the left motor and the right motor of the vehicle can meet the requirements of maintaining the operational stability of the vehicle, and then the torques of the left motor and the right motor are not coordinated, and the limiting torques corresponding to the left motor and the right motor are directly used as the final torque of the left motor and the final torque of the right motor, respectively, to improve the power and stability of the vehicle.

[0096] In some embodiments, the torque of the left motor and the right motor are coordinated according to each initial driving torque, each limiting torque and the torque limit of the vehicle, including: when one of the left motor and the right motor has a motor maximum available torque limitation, and / or its corresponding wheel has a wheel slip limitation, and the other of the left motor and the right motor has not had a motor maximum available torque limitation and its corresponding wheel has not had a wheel slip limitation, then it is determined whether a first preset condition is met; if the first preset condition is met, the torque of the left motor and the right motor are coordinated in a first torque coordination manner; if the first preset condition is not met, the torque of the left motor and the right motor are coordinated in a second torque coordination manner.

[0097] In an embodiment, after determining the initial driving torques of the left motor and the right motor on the same axis of the vehicle and the limiting torques corresponding to the initial driving torques, when at least one of the wheel slip limitation and / or the motor maximum available torque limitation is activated, that is, the motor maximum available torque limitation occurs in one of the left motor and the right motor, and the motor maximum available torque limitation does not occur in the other of the left motor and the right motor; or the wheel slip limitation occurs in one of the wheels corresponding to the left motor and the right motor (that is, the left wheel and the right wheel), and the wheel slip limitation does not occur in the other of the wheels corresponding to the left motor and the right motor (that is, the left wheel and the right wheel); or the motor maximum available torque limitation occurs in one of the left motor and the right motor, And the other of the left motor and the right motor has not experienced the maximum available torque limitation of the motor, and at the same time, the wheel corresponding to the motor that has experienced the maximum available torque limitation of the motor has also experienced the wheel slip limitation, while the wheel corresponding to the motor that has not experienced the maximum available torque limitation of the motor has also not experienced the wheel slip limitation. It is considered that the torque of the left motor and the right motor of the vehicle cannot meet the requirement of maintaining the operational stability of the vehicle, and then it is determined whether the first preset condition is met. If the first preset condition is met, the torque of the left motor and the right motor are coordinated in a first torque coordination manner; if the first preset condition is not met, the torque of the left motor and the right motor are coordinated in a second torque coordination manner to ensure that the left motor and the right motor always operate efficiently.

[0098] In some embodiments, when the left motor has a maximum available torque limit, and / or its corresponding left wheel has a wheel slip limit, and the right motor has not a maximum available torque limit, and its corresponding right wheel has not a wheel slip limit, the first preset condition includes:

[0099]

[0100] When the right motor has a motor maximum available torque limit, and / or its corresponding right wheel has a wheel slip limit, and the left motor has not a motor maximum available torque limit, and its corresponding left wheel has not a wheel slip limit, the first preset condition includes:

[0101]

[0102] Among them, Fx rreq is the initial driving torque of the right motor, Fx lreq is the initial driving torque of the left motor, Fx rlim0 is the limiting torque of the right motor, Fx llim0 is the limit torque of the left motor, Track is the wheelbase, Tq tor is the preset tolerance threshold.

[0103] In the embodiment, the initial driving torque of the right motor is determined, for example, as Fx rreq , the limiting torque of the right motor is recorded as Fxrlim0 , and the initial driving torque of the left motor is recorded as Fx lreq , the limiting torque of the left motor is recorded as Fx llim0 After that, the driving status of the vehicle under different driving conditions can be monitored in real time through the relevant sensors or controllers on the vehicle, and the vehicle's driving data, including the wheelbase Track and the preset tolerance threshold Tq, can be obtained. tor , when the maximum available torque of the left motor is limited, and / or the wheel slip of its corresponding left wheel is limited, and the maximum available torque of the right motor is not limited, and the wheel slip of its corresponding right wheel is not limited, that is, the maximum available torque of the left motor is limited, and the maximum available torque of the right motor is not limited; or the wheel slip of the left wheel is limited, and the wheel slip of the right wheel is not limited; or the maximum available torque of the left motor is limited, and the maximum available torque of the right motor is not limited, and the wheel slip of the left wheel is limited, and the wheel slip of the right wheel is not limited, the first preset condition is determined according to the above data, and the first preset condition includes:

[0104]

[0105] When the right motor has a motor maximum available torque limitation, and / or its corresponding right wheel has a wheel slip limitation, and the left motor has not a motor maximum available torque limitation and its corresponding left wheel has not a wheel slip limitation, that is, the right motor has a motor maximum available torque limitation, and the left motor has not a motor maximum available torque limitation; or the right wheel has a wheel slip limitation, and the left wheel has not a wheel slip limitation; or the right motor has a motor maximum available torque limitation, and the left motor has not a motor maximum available torque limitation, while the right wheel has a wheel slip limitation, and the left wheel has not a wheel slip limitation, a first preset condition is determined according to the above data, and the first preset condition includes:

[0106]

[0107] By determining the first preset condition, it is convenient to select different torque coordination modes to coordinate the torques of the left motor and the right motor according to whether the first preset condition is met.

[0108] In some embodiments, when the left motor has a maximum available torque limit, and / or its corresponding left wheel has a wheel slip limit, and the right motor has not a maximum available torque limit, and its corresponding right wheel has not a wheel slip limit, the first torque coordination method includes:

[0109] Fx llim =Fx llim0 ;

[0110] Fx rlim=Fx rreq +(Fx llim -Fx lreq );

[0111] When the right motor has a maximum available torque limit, and / or its corresponding right wheel has a wheel slip limit, and the left motor has not a maximum available torque limit, and its corresponding left wheel has not a wheel slip limit, the first torque coordination method includes:

[0112] Fx rlim =Fx rlim0 ;

[0113] Fx llim =Fx lreq +(Fx rlim -Fx rreq );

[0114] Among them, Fx llim is the final torque of the left motor, Fx rlim is the final torque of the right motor.

[0115] In the embodiment, when the maximum available torque of the left motor is limited, and / or the wheel slip of the corresponding left wheel is limited, and the maximum available torque of the right motor is not limited, and the wheel slip of the corresponding right wheel is not limited, that is, the maximum available torque of the left motor is limited, and the maximum available torque of the right motor is not limited; or the wheel slip of the left wheel is limited, and the wheel slip of the right wheel is not limited; or the maximum available torque of the left motor is limited, and the maximum available torque of the right motor is not limited, the wheel slip of the left wheel is limited, and the wheel slip of the right wheel is not limited, and the first preset condition is met, the final torque Fx of the left motor is llim According to Fx llim =Fx llim0 Calculated; the final torque Fx of the right motor rlim According to Fx rlim =Fx rreq +(Fx llim -Fx lreq ) calculated.

[0116] When the right motor has a motor maximum available torque limitation, and / or its corresponding right wheel has a wheel slip limitation, and the left motor has not a motor maximum available torque limitation and its corresponding left wheel has not a wheel slip limitation, that is, the right motor has a motor maximum available torque limitation, and the left motor has not a motor maximum available torque limitation; or the right wheel has a wheel slip limitation, and the left wheel has not a wheel slip limitation; or the right motor has a motor maximum available torque limitation, and the left motor has not a motor maximum available torque limitation, while the right wheel has a wheel slip limitation, and the left wheel has not a wheel slip limitation, and the first preset condition is met, the final torque Fx of the right motor is rlim according to

[0117] Fx rlim =Fx rlim0 Calculated; the final torque Fx of the left motor llim According to Fx llim =Fx lreq +(Fx rlim -

[0118] Fx rreq ) calculated.

[0119] In some embodiments, when the left motor has a motor maximum available torque limit, and / or its corresponding left wheel has a wheel slip limit, and the right motor has not a motor maximum available torque limit and its corresponding right wheel has not a wheel slip limit, the second torque coordination method includes:

[0120] Fx llim =Fx llim0 ;

[0121]

[0122] When the right motor has a maximum available torque limit, and / or its corresponding right wheel has a wheel slip limit, and the left motor has not a maximum available torque limit, and its corresponding left wheel has not a wheel slip limit, the second torque coordination method includes:

[0123] Fx rlim =Fx rlim0 ;

[0124]

[0125] Among them, Fx llim is the final torque of the left motor, Fx rlim is the final torque of the right motor.

[0126] In the embodiment, when the maximum available torque of the left motor is limited, and / or the wheel slip of its corresponding left wheel is limited, and the maximum available torque of the right motor is not limited, and the wheel slip of its corresponding right wheel is not limited, that is, the maximum available torque of the left motor is limited, and the maximum available torque of the right motor is not limited; or the wheel slip of the left wheel is limited, and the wheel slip of the right wheel is not limited; or the maximum available torque of the left motor is limited, and the maximum available torque of the right motor is not limited, the wheel slip of the left wheel is limited, and the wheel slip of the right wheel is not limited, and the first preset condition is not met, the final torque Fx of the left motor is llim According to Fx llim =Fx llim0 Calculated; the final torque Fx of the right motor llim according to Calculated.

[0127] When the right motor has a motor maximum available torque limitation, and / or its corresponding right wheel has a wheel slip limitation, and the left motor has not a motor maximum available torque limitation and its corresponding left wheel has not a wheel slip limitation, that is, the right motor has a motor maximum available torque limitation, and the left motor has not a motor maximum available torque limitation; or the right wheel has a wheel slip limitation, and the left wheel has not a wheel slip limitation; or the right motor has a motor maximum available torque limitation, and the left motor has not a motor maximum available torque limitation, while the right wheel has a wheel slip limitation, and the left wheel has not a wheel slip limitation, and the first preset condition is not met, the final torque Fx of the right motor is rlim According to Fx rlim =Fx rlim0 Calculated; the final torque Fx of the left motor llim according to Calculated.

[0128] In some embodiments, the torque of the left motor and the right motor are coordinated according to each initial driving torque, each limiting torque and the torque limit of the vehicle, including: when the wheels corresponding to the left motor and the right motor are both subject to wheel slip limitation, and / or the left motor and the right motor are both subject to motor maximum available torque limitation, it is determined whether the second preset condition is met; if the second preset condition is met, the torque of the left motor and the right motor are coordinated in accordance with a third torque coordination method; if the second preset condition is not met, it is determined whether the third preset condition is met; if the third preset condition is met, the torque of the left motor and the right motor are coordinated in accordance with a fourth torque coordination method; if the third preset condition is met, the torque of the left motor and the right motor are coordinated in accordance with a fifth torque coordination method.

[0129] In an embodiment, after determining the initial driving torque of the left motor and the right motor on the same axis of the vehicle and the limiting torque corresponding to each initial driving torque, when the wheel slip limit and / or the maximum available torque limit of the motor are both activated, that is, the wheels corresponding to the left motor and the right motor (i.e., the left wheel and the right wheel) both experience wheel slip limit; or the left motor and the right motor both experience the maximum available torque limit of the motor; or the wheels corresponding to the left motor and the right motor (i.e., the left wheel and the right wheel) both experience wheel slip limit, and the left motor and the right motor both experience the maximum available torque limit of the motor, it is considered that the torque of the left motor and the right motor of the vehicle cannot meet the requirement of maintaining the operational stability of the vehicle, then it is determined whether the second preset condition is met; if the second preset condition is met, the torque of the left motor and the right motor is coordinated in accordance with the third torque coordination method; if the second preset condition is not met, it is determined whether the third preset condition is met; if the third preset condition is met, the torque of the left motor and the right motor is coordinated in accordance with the fourth torque coordination method; if the third preset condition is not met, the torque of the left motor and the right motor is coordinated in accordance with the fifth torque coordination method to ensure that the left motor and the right motor always operate efficiently.

[0130] In some embodiments, the second preset condition includes:

[0131]

[0132] Among them, Fx rreq is the initial driving torque of the right motor, Fx lreq is the initial driving torque of the left motor, Fx rlim0 is the limiting torque of the right motor, Fx llim0 is the limit torque of the left motor, Track is the wheelbase, Tq tor is the preset tolerance threshold.

[0133] In the embodiment, the initial driving torque of the right motor is determined, for example, as Fx rreq , the limiting torque of the right motor is recorded as Fx rlim0 , and the initial driving torque of the left motor is recorded as Fx lreq , the limiting torque of the left motor is recorded as Fx llim0 After that, the driving status of the vehicle under different driving conditions can be monitored in real time through the relevant sensors or controllers on the vehicle, and the vehicle's driving data, including the wheelbase Track and the preset tolerance threshold Tq, can be obtained. tor , determine the second preset condition according to the above data, the second preset condition includes:

[0134]

[0135] By determining the second preset condition, it is convenient to select different torque coordination modes to coordinate the torques of the left motor and the right motor according to whether the second preset condition is met.

[0136] In some embodiments, the third torque coordination method includes:

[0137] Fx llim =Fx llim0 ;

[0138] Fx rlim =Fx rlim0 ;

[0139] Among them, Fx llim is the final torque of the left motor, Fx rlim is the final torque of the right motor.

[0140] In an embodiment, when the wheels corresponding to the left motor and the right motor both experience wheel slip limitation, and / or the left motor and the right motor both experience motor maximum available torque limitation, and the second preset condition is met, the final torque Fx of the left motor is llim According to Fx llim =Fx llim0 Calculated; the final torque Fx of the right motor rlim According to Fx rlim =Fx rlim0 Calculated.

[0141] In some embodiments, the third preset condition includes:

[0142] abs(Fx llim0 -Fx lreq )≥abs(Fx rlim0 -Fx rreq ).

[0143] In the embodiment, the initial driving torque of the right motor is determined, for example, as Fx rreq , the limiting torque of the right motor is recorded as Fx rlim0 , and the initial driving torque of the left motor is recorded as Fx lreq , the limiting torque of the left motor is recorded as Fx llim0 Then, the third preset condition is determined according to the above data, and the third preset condition includes:

[0144] abs(Fx llim0 -Fx lreq )≥abs(Fx rlim0 -Fx rreq ).

[0145] By determining the third preset condition, it is convenient to select different torque coordination modes to coordinate the torques of the left motor and the right motor according to whether the third preset condition is met.

[0146] In some embodiments, the fourth torque coordination method includes:

[0147] Fx llim =Fx llim0 ;

[0148]

[0149] Among them, Fx llim is the final torque of the left motor, Fx rlim is the final torque of the right motor.

[0150] In an embodiment, when the wheels corresponding to the left motor and the right motor both experience wheel slip limitation, and / or the left motor and the right motor both experience motor maximum available torque limitation, and the third preset condition is met, the final torque Fx of the left motor is llim According to Fx llim =Fx llim0 Calculated; the final torque Fx of the right motor llim according to Calculated.

[0151] In some embodiments, the fifth torque coordination method includes:

[0152] Fx rlim =Fx rlim0 ;

[0153]

[0154] In an embodiment, when the wheels corresponding to the left motor and the right motor both experience wheel slip limitation, and / or the left motor and the right motor both experience motor maximum available torque limitation, and the third preset condition is not met, the final torque Fx of the right motor is rlim According to Fx rlim =Fx rlim0 Calculated; the final torque Fx of the left motor llim according to Calculated.

[0155] In some embodiments, after the final torques of the left motor and the right motor are output, the method further includes: obtaining power requests of the motors of the vehicle; and redistributing power to the motors based on the power requests of the motors of the vehicle.

[0156] In the embodiment, after the final torque of the left motor and the right motor is output, the motor torque of each motor of the vehicle is obtained, for example, recorded as M, and 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 based on the above data, for example, recorded as P, that is, the calculation formula of the power request P of each motor of the vehicle is as follows:

[0157] P=M*ω

[0158] 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.

[0159] 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.

[0160] 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.

[0161] 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 request and a preset power limit.

[0162] In an embodiment, after determining the total power request, the difference between the total power request 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, which may cause damage to the motor.

[0163] In some embodiments, determining the initial driving torque of the left motor and the right motor of the same shaft of the vehicle includes:

[0164] Fx rreq =0.5*Fx0+D fx ;

[0165] Fx lreq=0.5*Fx0-D fx ;

[0166]

[0167] Among them, Fx rreq is the initial driving torque of the right motor, Fx lreq is the initial driving torque of the left motor, D fx M is the longitudinal torque difference between the wheel corresponding to the left motor and the wheel corresponding to the right motor, z,rr is the feedback yaw moment of the vehicle, M z,ff is the feedforward yaw moment of the vehicle, Fx0 is the total driving torque of the vehicle, and Track is the wheelbase.

[0168] 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, including the feedback yaw moment of the vehicle, for example, M z,rr , the feedforward yaw moment is denoted as M z,ff , the total driving torque of the vehicle is recorded as Fx0, and the wheelbase is recorded as Track. After obtaining the above data, the torque difference between the wheel corresponding to the left motor and the wheel corresponding to the right motor in the longitudinal direction is calculated according to the above data, for example, recorded as D fx , that is, the longitudinal torque difference D between the wheel corresponding to the left motor and the wheel corresponding to the right motor fx The calculation formula is as follows:

[0169]

[0170] Determine the longitudinal torque difference D between the wheel corresponding to the left motor and the wheel corresponding to the right motor fx Then, according to the longitudinal torque difference D between the wheel corresponding to the left motor and the wheel corresponding to the right motor, fx Calculate the initial drive torque of the right motor, for example, record it as Fx rreq , and the initial driving torque of the left motor is recorded as Fx lreq , that is, the initial driving torque Fx of the right motor rreq The calculation formula is as follows:

[0171] Fx rreq =0.5*Fx0+D fx ;

[0172] That is, the initial driving torque Fx of the left motor lreq The calculation formula is as follows:

[0173] Fx lreq =0.5*Fx0-D fx ;

[0174] By determining the initial driving torque Fx of the right motor of the same shaft of the vehicle rreq and the initial driving torque Fx of the left motor lreq , which facilitates the coordinated control of the left motor and the right motor.

[0175] In some embodiments, the feedforward yaw moment is calculated by the following formula:

[0176]

[0177] Among them, M z，ff is the feedforward yaw moment, r z，ref is the target yaw rate of the vehicle, r z，pas is the passive yaw rate of the vehicle, C f is the front wheel cornering stiffness, C r is the rear wheel cornering stiffness, a is the distance from the vehicle center of mass to the front axle, b is the distance from the vehicle center of mass to the rear axle, v x is the longitudinal speed of the vehicle, and m is the vehicle mass.

[0178] 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, including the target yaw rate of the vehicle, for example, denoted as r z，ref , the passive yaw rate of the vehicle is, for example, denoted as r z，pas , the front wheel cornering stiffness is denoted as C f , the rear wheel cornering stiffness is, for example, denoted as C r , the distance from the center of mass of the vehicle to the front axle is recorded as a, the distance from the center of mass of the vehicle to the rear axle is recorded as b, and the longitudinal speed of the vehicle is recorded as v x , the vehicle mass is recorded as m, after obtaining the above data, the feedforward yaw moment is calculated according to the above data, for example, recorded as M z，ff , that is, the feedforward yaw moment M z，ff The calculation formula is as follows:

[0179]

[0180] By determining the feedforward yaw moment M z，ff , which is convenient for feeding forward yaw moment M z，ff Determine the initial driving torque Fx of the right motor on the same axis of the vehicle rreq and the initial driving torque Fx of the left motor lreq .

[0181] In some embodiments, the feedback yaw moment is calculated by the following formula:

[0182]

[0183] Among them, M z,rris the feedback yaw moment, e(t) is the difference between the target yaw rate and the actual yaw rate of the vehicle, I is the integral coefficient, P is the proportional coefficient, and D is the differential coefficient.

[0184] 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, including the target yaw rate of the vehicle, for example, denoted as r z，ref , and the actual yaw rate, for example, is denoted as r act , calculate the target yaw rate r of the vehicle z，ref and the actual yaw rate r act The difference is recorded as e(t), that is, e(t) = r z，ref -r act According to the above data and combined with the integral coefficient I, the proportional coefficient P, and the differential coefficient D, the feedback yaw moment is calculated, for example, M z,rr , that is, the feedback yaw moment M z,rr The calculation formula is as follows:

[0185]

[0186] By determining the feedback yaw moment M z,rr , which is convenient for feedback yaw moment M z,rr Determine the initial driving torque Fx of the right motor on the same axis of the vehicle rreq and the initial driving torque Fx of the left motor lreq .

[0187] Reference below Figure 2 The torque control method according to the embodiment of the present invention is described with examples.

[0188] like Figure 2 As shown, the torque control method of the embodiment of the present invention at least includes steps S11 to S32.

[0189] Step S11, determining the initial driving torque of the left motor and the right motor on the same shaft of the vehicle.

[0190] Step S12, obtaining the limiting torque corresponding to each initial driving torque, wherein the limiting torque is the torque output after the initial driving torque is limited by at least one of wheel slip limitation, body electronic stability control system torque request limitation and motor maximum available torque limitation during actual vehicle driving.

[0191] Step S13, determining whether the torque request limit of the vehicle body electronic stability control system is activated, if so, executing step S14; if not, executing step S16.

[0192] Step S14, determining whether a torque reduction request is issued, if so, executing step S15; if not, executing step S13.

[0193] In step S15, the torques of the left motor and the right motor are not coordinated, and the limit torques corresponding to the left motor and the right motor are respectively used as the final torque of the left motor and the final torque of the right motor.

[0194] Step S16, determining whether the wheel slip limit and the motor maximum available torque limit are both activated, if so, executing step S17; if not, executing step S18.

[0195] Step S17, determining whether one of the wheel slip limit and the motor maximum available torque limit is limited, if so, executing step S19; if not, executing step S18.

[0196] In step S18, the torques of the left motor and the right motor are not coordinated, and the limit torques corresponding to the left motor and the right motor are respectively used as the final torque of the left motor and the final torque of the right motor.

[0197] Step S19, determine whether the first preset condition is met, if so, execute step S20; if not, execute step S21.

[0198] Step S20: Coordinate the torques of the left motor and the right motor according to a first torque coordination method.

[0199] Step S21 : Coordinating the torques of the left motor and the right motor according to a second torque coordination method.

[0200] Step S22, determining whether both the wheel slip limit and the motor maximum available torque limit are limited, if so, executing step S23; if not, executing step S20.

[0201] Step S23, determine whether the second preset condition is met, if so, execute step S24; if not, execute step S25.

[0202] Step S24: Coordinate the torques of the left motor and the right motor according to a third torque coordination method.

[0203] Step S25, determining whether the third preset condition is satisfied, if so, executing step S26; if not, executing step S27.

[0204] Step S26: Coordinate the torques of the left motor and the right motor according to a fourth torque coordination method.

[0205] Step S27: Coordinate the torques of the left motor and the right motor according to a fifth torque coordination method.

[0206] Step S28, outputting the final torque of the left motor and the final torque of the right motor.

[0207] Step S29, obtaining the power request of each motor of the vehicle.

[0208] Step S30 , obtaining a total power request of the vehicle according to the power requests of the motors of the vehicle.

[0209] Step S31: obtaining reallocatable power according to the difference between the total power request and the preset power limit.

[0210] Step S32, calculating the proportion of the power request of each motor in the total power request, and distributing the reallocatable power to the corresponding motor according to the proportion.

[0211] According to the torque control 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 vehicle's feedback yaw moment, the vehicle's feedforward yaw moment, the vehicle's total driving torque and wheelbase, can be obtained. The initial driving torques of the left motor and the right motor on the same axis of the vehicle are determined according to the above driving data, and each initial driving torque is limited and adjusted through at least one of the wheel slip limit, the body electronic stability control system torque request limit and the motor's maximum available torque limit to obtain the limited torque corresponding to each initial driving torque. The left motor and the right motor of the vehicle are reasonably coordinated in torque according to different torque limit conditions of the vehicle to output the final torque of the left motor and the final torque of the right motor, so that the left motor and the right motor can always operate efficiently, ensuring that the vehicle can more effectively utilize the torque, thereby improving the vehicle's power and stability.

[0212] Reference below Figure 3 The torque control device 2 according to the embodiment of the present invention will be described.

[0213] like Figure 3 As shown, the torque control device 2 of the embodiment of the present invention includes: a determination module 21, an acquisition module 22 and a control module 23, wherein:

[0214] The determination module 21 is used to determine the initial driving torque of the left motor and the right motor on the same axis of the vehicle; the acquisition module 22 is used to obtain the limiting torque corresponding to each initial driving torque, wherein the limiting torque is the torque output after the initial driving torque is limited by at least one of the wheel slip limit, the body electronic stability control system torque request limit and the motor maximum available torque limit during the actual driving process of the vehicle; the control module 23 is used to coordinate the torque of the left motor and the right motor according to each initial driving torque, each limiting torque and the torque limit of the vehicle, and output the final torque of the left motor and the final torque of the right motor.

[0215] In an embodiment, the determination 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 obtain the vehicle's driving data, such as the vehicle's feedback yaw moment, the vehicle's feedforward yaw moment, the vehicle's total driving torque and wheelbase. By obtaining the above data, it is convenient to determine the initial driving torque of the left motor and the right motor on the same axis of the vehicle according to the above data, for example, determine the initial driving torque of the left motor and the right motor on the front axle of the vehicle, and then control the vehicle to perform torque control on the left and right motors on the front axle, or determine the initial driving torque of the left motor and the right motor on the rear axle of the vehicle, and then control the vehicle to perform torque control on the left and right motors on the rear axle. Among them, the same axis 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 initial driving torque is the torque request of the current output of the motor without torque vector control, that is, the current state information of the vehicle. It can be understood that the above data will change according to the different driving states of the vehicle.

[0216] The acquisition module 22 adjusts each initial driving torque through at least one of wheel slip limit, body electronic stability control system torque request limit and motor maximum available torque limit according to the specific conditions of the vehicle, and the torque output after the limit is used as the limit torque corresponding to each initial driving torque, and the left motor and the right motor of the vehicle are reasonably coordinated according to each limit torque, so that the left motor and the right motor always operate efficiently, thereby ensuring that the vehicle can use the torque more effectively. Among them, the limit torque is the torque output after the initial driving torque is limited and adjusted when the initial driving torque of the left motor and the right motor is successively limited by the conditions such as the wheel slip limit activation, the body electronic stability control system torque request limit activation and the motor maximum available torque limit activation during the actual driving of the vehicle, resulting in the slip rate exceeding the limit. By determining the limit torque, data support can be provided for the reasonable coordination of the torque of the left motor and the right motor of the vehicle, and the real-time monitoring of the vehicle itself and the adaptive coordination of the motor torque can be realized, so that the vehicle can ensure that the vehicle can use the torque more effectively under different slip states, and avoid the problem that the output torque fluctuation affects the operational stability of the vehicle.

[0217] The control module 23 reasonably coordinates the torque of the left motor and the right motor of the vehicle according to each initial driving torque, each limiting torque and the torque limit of the vehicle to output the final torque of the left motor and the final torque of the right motor, so that the left motor and the right motor always operate efficiently, ensuring that the vehicle can utilize torque more effectively, thereby improving the vehicle's power and stability.

[0218] According to the torque control 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 feedback yaw moment of the vehicle, the feedforward yaw moment of the vehicle, the total driving torque of the vehicle and the wheelbase, and the initial driving torque of the left motor and the right motor on the same axis of the vehicle are determined according to the above driving data, and each initial driving torque is limited and adjusted through at least one of the wheel slip limit, the body electronic stability control system torque request limit and the motor maximum available torque limit to obtain the limit torque corresponding to each initial driving torque, and the left motor and the right motor of the vehicle are reasonably coordinated in torque according to different torque limit conditions of the vehicle to output the final torque of the left motor and the final torque of the right motor, so that the left motor and the right motor can always operate efficiently, and it is ensured that the vehicle can more effectively utilize the torque, thereby improving the power and stability of the vehicle.

[0219] In some embodiments, the control module 23 coordinates the torques of the left motor and the right motor according to each initial driving torque, each limiting torque and the torque limit of the vehicle, specifically for: when the torque request limit of the vehicle electronic stability control system is activated and a torque reduction request is issued, the torques of the left motor and the right motor are not coordinated, and the limiting torques corresponding to each of the left motor and the right motor are respectively used as the final torque of the left motor and the final torque of the right motor.

[0220] In some embodiments, when the control module 23 coordinates the torques of the left motor and the right motor according to each initial driving torque, each limiting torque and the torque limit of the vehicle, it is specifically used for: when the wheel slip limit and the maximum available torque limit of the motor are not activated, the torques of the left motor and the right motor are not coordinated, and the limiting torques corresponding to each of the left motor and the right motor are respectively used as the final torque of the left motor and the final torque of the right motor.

[0221] In some embodiments, when the control module 23 coordinates the torque of the left motor and the right motor according to each initial driving torque, each limiting torque and the torque limit of the vehicle, it is specifically used for: when one of the left motor and the right motor has a motor maximum available torque limitation, and / or its corresponding wheel has a wheel slip limitation, and the other of the left motor and the right motor has not had a motor maximum available torque limitation and its corresponding wheel has not had a wheel slip limitation, then determine whether a first preset condition is met; if the first preset condition is met, coordinate the torque of the left motor and the right motor in a first torque coordination manner; if the first preset condition is not met, coordinate the torque of the left motor and the right motor in a second torque coordination manner.

[0222] In some embodiments, when the left motor has a maximum available torque limit, and / or its corresponding left wheel has a wheel slip limit, and the right motor has no maximum available torque limit, and its corresponding right wheel has no wheel slip limit, the control module 23 determines that the first preset condition includes:

[0223]

[0224] When the right motor has a motor maximum available torque limit, and / or its corresponding right wheel has a wheel slip limit, and the left motor has no motor maximum available torque limit and its corresponding left wheel has no wheel slip limit, the control module 23 determines that the first preset condition includes:

[0225]

[0226] Among them, Fx rreq is the initial driving torque of the right motor, Fx lreq is the initial driving torque of the left motor, Fx rlim0 is the limiting torque of the right motor, Fx llim0 is the limit torque of the left motor, Track is the wheelbase, Tq tor is the preset tolerance threshold.

[0227] In some embodiments, when the left motor has a maximum available torque limit, and / or its corresponding left wheel has a wheel slip limit, and the right motor has no maximum available torque limit and its corresponding right wheel has no wheel slip limit, the control module 23 determines that the first torque coordination mode includes:

[0228] Fx llim =Fx llim0 ;

[0229] Fx rlim =Fx rreq +(Fx llim -Fx lreq );

[0230] When the right motor has a maximum available torque limit, and / or its corresponding right wheel has a wheel slip limit, and the left motor has no maximum available torque limit and its corresponding left wheel has no wheel slip limit, the control module 23 determines that the first torque coordination mode includes:

[0231] Fx rlim =Fx rlim0 ;

[0232] Fx llim =Fx lreq +(Fx rlim -Fx rreq );

[0233] Among them, Fx llim is the final torque of the left motor, Fx rlim is the final torque of the right motor.

[0234] In some embodiments, when the left motor has a motor maximum available torque limit, and / or its corresponding left wheel has a wheel slip limit, and the right motor has no motor maximum available torque limit and its corresponding right wheel has no wheel slip limit, the control module 23 determines that the second torque coordination method includes:

[0235] Fx llim =Fx llim0 ;

[0236]

[0237] When the right motor has a maximum available torque limit, and / or its corresponding right wheel has a wheel slip limit, and the left motor has no maximum available torque limit and its corresponding left wheel has no wheel slip limit, the second torque coordination mode of the control module 23 includes:

[0238] Fx rlim =Fx rlim0 ;

[0239]

[0240] Among them, Fx llim is the final torque of the left motor, Fx rlim is the final torque of the right motor.

[0241] In some embodiments, when the control module 23 coordinates the torque of the left motor and the right motor according to each initial driving torque, each limiting torque and the torque limit of the vehicle, it is specifically used for: when the wheels corresponding to the left motor and the right motor are both subject to wheel slip limitation, and / or the left motor and the right motor are both subject to motor maximum available torque limitation, it is determined whether the second preset condition is met; if the second preset condition is met, the torque of the left motor and the right motor is coordinated in accordance with the third torque coordination method; if the second preset condition is not met, it is determined whether the third preset condition is met; if the third preset condition is met, the torque of the left motor and the right motor is coordinated in accordance with the fourth torque coordination method; if the third preset condition is not met, the torque of the left motor and the right motor is coordinated in accordance with the fifth torque coordination method.

[0242] In some embodiments, the control module 23 determines the second preset condition including:

[0243]

[0244] Among them, Fxrreq is the initial driving torque of the right motor, Fx lreq is the initial driving torque of the left motor, Fx rlim0 is the limiting torque of the right motor, Fx llim0 is the limit torque of the left motor, Track is the wheelbase, Tq tor is the preset tolerance threshold.

[0245] In some embodiments, the control module 23 determines the third torque coordination mode including:

[0246] Fx llim =Fx llim0 ;

[0247] Fx rlim =Fx rlim0 ;

[0248] Among them, Fx llim is the final torque of the left motor, Fx rlim is the final torque of the right motor.

[0249] In some embodiments, the control module 23 determines the third preset condition including:

[0250] abs(Fx llim0 -Fx lreq )≥abs(Fx rlim0 -Fx rreq ).

[0251] In some embodiments, the control module 23 determines the fourth torque coordination mode including:

[0252] Fx llim =Fx llim0 ;

[0253]

[0254] Among them, Fx llim is the final torque of the left motor, Fx rlim is the final torque of the right motor.

[0255] In some embodiments, the control module 23 determines the fifth torque coordination method includes:

[0256] Fx rlim =Fx rlim0 ;

[0257]

[0258] In some embodiments, after the control module 23 redistributes the vehicle torque according to the limited rear axle left motor target torque and the limited rear axle 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.

[0259] In some embodiments, after outputting the final torque of the left motor and the right motor, the control module 23 is 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.

[0260] 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.

[0261] 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 request and the preset power limit.

[0262] In some embodiments, when the determination module 21 determines the initial driving torque of the left motor and the right motor of the same shaft of the vehicle, it is specifically used to:

[0263] Fx rreq =0.5*Fx0+D fx ;

[0264] Fx lreq =0.5*Fx0-D fx ;

[0265]

[0266] Among them, Fx rreq is the initial driving torque of the right motor, Fx lreq is the initial driving torque of the left motor, D fx M is the longitudinal torque difference between the wheel corresponding to the left motor and the wheel corresponding to the right motor, z,rr is the feedback yaw moment of the vehicle, M z,ff is the feedforward yaw moment of the vehicle, Fx0 is the total driving torque of the vehicle, and Track is the wheelbase.

[0267] In some embodiments, the determination module 21 calculates the feedforward yaw moment by the following formula:

[0268]

[0269] Among them, M z，ff is the feedforward yaw moment, r z，ref is the target yaw rate of the vehicle, r z , pas is the passive yaw rate of the vehicle, C f is the front wheel cornering stiffness, C r is the rear wheel cornering stiffness, a is the distance from the vehicle center of mass to the front axle, b is the distance from the vehicle center of mass to the rear axle, v x is the longitudinal speed of the vehicle, and m is the vehicle mass.

[0270] In some embodiments, the determination module 21 calculates the feedback yaw moment by the following formula:

[0271]

[0272] Among them, M z,rr is the feedback yaw moment, e(t) is the difference between the target yaw rate and the actual yaw rate of the vehicle, I is the integral coefficient, P is the proportional coefficient, and D is the differential coefficient.

[0273] According to the torque control 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 feedback yaw moment of the vehicle, the feedforward yaw moment of the vehicle, the total driving torque of the vehicle and the wheelbase, and the initial driving torque of the left motor and the right motor on the same axis of the vehicle can be determined according to the above driving data, and the initial driving torque can be limited and adjusted through at least one of the wheel slip limit, the body electronic stability control system torque request limit and the maximum available torque limit of the motor to obtain the limited torque corresponding to the initial driving torque, and the left motor and the right motor of the vehicle can be reasonably coordinated in torque according to the different torque limit conditions of the vehicle to output the final torque of the left motor and the final torque of the right motor, so that the left motor and the right motor can always operate efficiently, and it can be ensured that the vehicle can more effectively utilize the torque, thereby improving the power and stability of the vehicle.

[0274] Reference below Figure 4 and Figure 5 A vehicle 3 according to an embodiment of the present invention will be described.

[0275] In some embodiments, Figure 4 As shown, the vehicle 3 according to the embodiment of the present invention comprises a torque control device 2 as described in any one of the above embodiments of the present invention.

[0276] In other embodiments, Figure 5As shown, the vehicle 3 includes a processor 100, a memory 101, and a torque control program 102 stored in the memory 101 and executable on the processor 100. When the torque control program 102 is executed by the processor 100, the torque control method of the above embodiment is implemented.

[0277] 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 vehicle's feedback yaw moment, the vehicle's feedforward yaw moment, the vehicle's total driving torque and wheelbase, can be obtained. The initial driving torques of the left motor and the right motor on the same axis of the vehicle are determined based on the above driving data, and each initial driving torque is limited and adjusted through at least one of the wheel slip limit, the body electronic stability control system torque request limit and the motor's maximum available torque limit to obtain the limited torque corresponding to each initial driving torque. The left motor and the right motor of the vehicle are reasonably coordinated in torque according to different torque limit conditions of the vehicle to output the final torque of the left motor and the final torque of the right motor, so that the left motor and the right motor can always operate efficiently, ensuring that the vehicle can more effectively utilize the torque, thereby improving the vehicle's power and stability.

[0278] The following describes a computer-readable storage medium according to an embodiment of the present invention.

[0279] A torque control program is stored on a computer-readable storage medium in an embodiment of the present invention. When the torque control program is executed by a processor, the torque control method described in any one of the above embodiments of the present invention is implemented.

[0280] According to the computer-readable storage medium of the embodiment of the present invention, when the torque control program stored thereon is executed by the processor, the driving state of 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 vehicle's feedback yaw moment, the vehicle's feedforward yaw moment, the vehicle's total driving torque and wheelbase, can be obtained. The initial driving torques of the left motor and the right motor on the same axis of the vehicle are determined according to the above driving data, and each initial driving torque is limited and adjusted through at least one of the wheel slip limit, the body electronic stability control system torque request limit and the motor's maximum available torque limit to obtain the limited torque corresponding to each initial driving torque. The left motor and the right motor of the vehicle are reasonably coordinated in torque according to different torque limit conditions of the vehicle to output the final torque of the left motor and the final torque of the right motor, so that the left motor and the right motor can always operate efficiently, ensuring that the vehicle can more effectively utilize the torque, thereby improving the vehicle's power and stability.

[0281] 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.

[0282] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A torque control method, characterized in that: The following steps are involved: Determine the initial driving torque of the left motor and the right motor of the same shaft of the vehicle; Acquire a limit torque corresponding to each of the initial driving torques, wherein the limit torque is a torque output after the initial driving torque is limited by at least one of a wheel slip limit, a vehicle body electronic stability control system torque request limit, and a motor maximum available torque limit during actual driving of the vehicle; The torques of the left motor and the right motor are coordinated according to the initial driving torques, the limit torques and the torque limit of the vehicle, and the final torque of the left motor and the final torque of the right motor are output.

2. The torque control method according to claim 1, characterized in that: Coordinating the torques of the left motor and the right motor according to the initial driving torques, the limiting torques and the torque limiting condition of the vehicle includes: When the torque request limit of the vehicle electronic stability control system is activated and a torque reduction request is issued, the torques of the left motor and the right motor are not coordinated, and the limit torques corresponding to the left motor and the right motor are respectively used as the final torque of the left motor and the final torque of the right motor.

3. The torque control method according to claim 1, characterized in that: Coordinating the torques of the left motor and the right motor according to the initial driving torques, the limiting torques and the torque limiting condition of the vehicle includes: When the wheel slip limit and the motor maximum available torque limit are both inactive, the torques of the left motor and the right motor are not coordinated, and the limit torques corresponding to the left motor and the right motor are respectively used as the final torque of the left motor and the final torque of the right motor.

4. The torque control method according to claim 1, characterized in that: Coordinating the torques of the left motor and the right motor according to the initial driving torques, the limiting torques and the torque limiting condition of the vehicle includes: When one of the left motor and the right motor has a motor maximum available torque limitation, and / or a wheel corresponding to the left motor has a wheel slip limitation, and the other of the left motor and the right motor has no motor maximum available torque limitation and no wheel slip limitation occurs to the wheel corresponding to the left motor and the right motor, determining whether a first preset condition is met; If the first preset condition is met, the torques of the left motor and the right motor are coordinated according to a first torque coordination method; If the first preset condition is not met, the torques of the left motor and the right motor are coordinated according to a second torque coordination method.

5. The torque control method according to claim 4, characterized in that: When the left motor has a maximum available torque limit, and / or its corresponding left wheel has a wheel slip limit, and the right motor has no maximum available torque limit and its corresponding right wheel has no wheel slip limit, the first preset condition includes: When the right motor has a maximum available torque limit, and / or its corresponding right wheel has a wheel slip limit, and the left motor has no maximum available torque limit and its corresponding left wheel has no wheel slip limit, the first preset condition includes: Among them, Fx rreq is the initial driving torque of the right motor, Fx lreq is the initial driving torque of the left motor, Fx rlim0 is the limiting torque of the right motor, Fx llim0 is the limit torque of the left motor, Track is the wheelbase, Tq tor is the preset tolerance threshold.

6. The torque control method according to claim 5, characterized in that: When the left motor has a maximum available torque limit, and / or its corresponding left wheel has a wheel slip limit, and the right motor has no maximum available torque limit and its corresponding right wheel has no wheel slip limit, the first torque coordination method includes: Fx llim =Fx llim0 ; Fx rlim =Fx rreq +(Fx llim -Fx lreq ); When the right motor has a maximum available torque limit, and / or its corresponding right wheel has a wheel slip limit, and the left motor has no maximum available torque limit and its corresponding left wheel has no wheel slip limit, the first torque coordination method includes: Fx rlim =Fx rlim0 ; Fx llim =Fx lreq +(Fx rlim -Fx rreq ); Among them, Fx llim is the final torque of the left motor, Fx rlim is the final torque of the right motor.

7. The torque control method according to claim 5, characterized in that: When the left motor has a maximum available torque limit, and / or its corresponding left wheel has a wheel slip limit, and the right motor has no maximum available torque limit and its corresponding right wheel has no wheel slip limit, the second torque coordination mode includes: Fx llim =Fx llim0 ; When the right motor has a maximum available torque limit, and / or its corresponding right wheel has a wheel slip limit, and the left motor has no maximum available torque limit and its corresponding left wheel has no wheel slip limit, the second torque coordination mode includes: Among them, Fx llim is the final torque of the left motor, Fx rlim is the final torque of the right motor.

8. The torque control method according to claim 1, characterized in that: Coordinating the torques of the left motor and the right motor according to the initial driving torques, the limiting torques and the torque limiting condition of the vehicle includes: When the wheels corresponding to the left motor and the right motor both experience wheel slip limitation, and / or the maximum available torque of the left motor and the right motor both experience motor limit, determining whether a second preset condition is met; If the second preset condition is met, the torques of the left motor and the right motor are coordinated according to a third torque coordination method; If the second preset condition is not met, determining whether the third preset condition is met; If the third preset condition is met, the torques of the left motor and the right motor are coordinated according to a fourth torque coordination method; If the third preset condition is not met, the torques of the left motor and the right motor are coordinated according to a fifth torque coordination method.

9. The torque control method according to claim 8, characterized in that: The second preset condition includes: Among them, Fx rreq is the initial driving torque of the right motor, Fx lreq is the initial driving torque of the left motor, Fx rlim0 is the limiting torque of the right motor, Fx llim0 is the limit torque of the left motor, Track is the wheelbase, Tq tor is the preset tolerance threshold.

10. The torque control method according to claim 9, characterized in that: The third torque coordination method includes: Fx llim =Fx llim0 : Fx rlim =Fx rlim0 ; Among them, Fx llim is the final torque of the left motor, Fx rlim is the final torque of the right motor.

11. The torque control method according to claim 9, characterized in that: The third preset condition includes: abs(Fx llim0 -Fx lreq )≥abs(Fx rlim0 -Fx rreq )。 12. The torque control method according to claim 11, characterized in that: The fourth torque coordination method includes: Fx llim =Fx llim0 ; Among them, Fx llim is the final torque of the left motor, Fx rlim is the final torque of the right motor.

13. The torque control method according to claim 11, characterized in that: The fifth torque coordination method includes: Fx rlim =Fx rlim0 ; 14. The torque control method according to any one of claims 1 to 13, characterized in that: After the final torques of the left motor and the right motor are output, 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.

15. The torque control method according to claim 14, 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.

16. The torque control method according to claim 15, 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 request and a preset power limit.

17. The torque control method according to claim 1, characterized in that: Determining the initial driving torque of the left motor and the right motor of the same shaft of the vehicle includes: Fx rreq =0.5*Fx0+D fx ; Fx lreq =0.5*Fx0-D fx ; Among them, Fx rreq is the initial driving torque of the right motor, Fx lreq is the initial driving torque of the left motor, D fx is the torque difference between the wheel corresponding to the left motor and the wheel corresponding to the right motor in the longitudinal direction, M z，rr is the feedback yaw moment of the vehicle, M z，ff is the feedforward yaw moment of the vehicle, Fx0 is the total driving torque of the vehicle, and Track is the wheelbase.

18. The torque control method according to claim 17, characterized in that: The feedforward yaw moment is calculated by the following formula: Among them, M z，ff is the feedforward yaw moment, r z，ref is the target yaw rate of the vehicle, r z，pas is the passive yaw rate of the vehicle, C f is the front wheel cornering stiffness, C r is the rear wheel cornering stiffness, a is the distance from the vehicle center of mass to the front axle, b is the distance from the vehicle center of mass to the rear axle, v x is the longitudinal speed of the vehicle, and m is the vehicle mass.

19. The torque control method according to claim 17, characterized in that: The feedback yaw moment is calculated by the following formula: Among them, M z，rr is the feedback yaw moment, e(t) is the difference between the target yaw rate and the actual yaw rate of the vehicle, I is the integral coefficient, P is the proportional coefficient, and D is the differential coefficient.

20. A vehicle, characterized in that: include: A processor, a memory, and a torque control program stored in the memory and executable on the processor, wherein the torque control program, when executed by the processor, implements the torque control method according to any one of claims 1 to 19.

21. A computer-readable storage medium, characterized in that: A torque control program is stored on a computer-readable storage medium, and when the torque control program is executed by a processor, the torque control method according to any one of claims 1 to 19 is implemented.

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