Torque distribution method, vehicle and storage medium
By identifying the gear status of the vehicle and calculating the total demand power, matching the motor demand torque level, and redistribute the torque of the four motors of the vehicle, the problem of unreasonable motor torque distribution is solved and the economy and range of the entire vehicle are improved.
Patent Information
- Application Number
- CN202411683110.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-22
- Publication Date
- 2025-01-07
AI Technical Summary
In the prior art, the torque distribution of the vehicle motor is unreasonable, resulting in high economic performance consumption of the entire vehicle, shortening the range of the cruising range, and causing anxiety in cruising range.
By identifying the vehicle gear status, calculating the total demand power, matching the motor demand torque level, and redistribution of torque to the four motors, the reasonable distribution and control of torque are achieved, and the motor efficiency zone is fully utilized.
The reasonable distribution and effective control of the torque of the four motors has been achieved, which improves the economy and range of the entire vehicle and improves the user's driving experience.
Smart Images
Figure CN119261585A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of vehicle technology, and in particular to a torque distribution method, a vehicle and a storage medium. Background Art
[0002] With the continuous development of pure electric vehicles, new energy technologies are being used more and more widely, and the vehicle's motor torque distribution is mainly achieved by controlling the motor's torque distribution, so that the vehicle can achieve better power and economy during driving.
[0003] In the related technology, the motor torque distribution of the vehicle is mainly to distribute the motor torque to the mid-axle and rear-axle motors in a limited manner, and relies on the setting of related curves. The torque distribution between the motors is unreasonable, which can easily lead to the failure to fully utilize the high efficiency zone of the motors when the four motors are involved in the work, resulting in high economic performance consumption of the whole vehicle, greatly shortening the cruising range of the whole vehicle, and easily causing cruising range anxiety. Summary of the invention
[0004] The present application provides a torque distribution method, a vehicle and a storage medium to solve the problem that the motor torque distribution of a vehicle in the related art is mainly to distribute the motor torque to the mid- and rear-axle motors in a limited manner, resulting in unreasonable torque distribution, high economic performance consumption of the whole vehicle, greatly shortening the cruising range of the whole vehicle, causing cruising range anxiety and other problems.
[0005] The first aspect of the present application provides a torque distribution method, comprising the following steps: identifying the current gear state of a vehicle; if the gear state of the vehicle is in the second gear, calculating the total required power of the current vehicle; matching the current required torque level of the motor according to the total required power of the vehicle, performing corresponding target operations according to the current required torque level, and redistributing torque to the first to fourth motors of the vehicle at the same time.
[0006] Preferably, the calculation of the total required power of the current vehicle includes: obtaining the actual vehicle speed, pedal opening and actual speed value of each motor; respectively querying a first preset table and a second preset table according to the actual vehicle speed and the pedal opening to determine the required torque value corresponding to each motor, and determining the total required torque of the current vehicle according to the required torque value; calculating the total required power of the current vehicle according to the actual speed value of each motor and the corresponding required torque value of each motor.
[0007] Preferably, matching the current required torque level of the motor according to the total required power of the vehicle includes: when the total required power is less than a first preset value, the current required torque level is the first level; when the total required power is greater than the first preset value and less than the second preset value, the current required torque level is the third level; when the total required power is greater than the second preset value, the current required torque level is the third level.
[0008] Preferably, the corresponding target operation is performed according to the current required torque level, including: if the current required torque level is the first level, the driver's current driving intention is a low throttle acceleration intention, and the vehicle's middle and rear axles are controlled to switch from the second gear to the target gear; if the current required torque level is the second level, the driver's current driving intention is a medium throttle acceleration intention, and the vehicle is controlled to keep the middle axle gear unchanged, and the rear axle is switched from the second gear to the target gear; if the current required torque level is the third level, the driver's current driving intention is a high throttle acceleration intention, and the vehicle is controlled to keep the middle axle in the second gear.
[0009] Preferably, the torque of the four motors of the vehicle is redistributed according to the current required torque level, including: if the current required torque level is the first level, the output torque of the first motor and the fourth motor is controlled to be the target torque, and the output torque of the second motor and the third motor is recalculated; if the current required torque level is the second level, the output torque of the fourth motor is controlled to be the target torque, and the output torque of the first motor, the second motor and the third motor is recalculated; if the current required torque level is the third level, the output torque of the first motor, the second motor, the third motor and the fourth motor is recalculated.
[0010] Preferably, if the current required torque level is the first level, the calculation formula for recalculating the output torque of the second motor and the third motor is: the output torque of the second motor = (total required power / 2)*9550 / the actual speed value of the second motor; the output torque of the third motor = (total required power / 2)*9550 / the actual speed value of the third motor.
[0011] Preferably, if the current required torque level is the second level, the calculation formula for recalculating the output torque of the first motor, the second motor and the third motor is: the output torque of the first motor = (total required power / 3)*9550 / the actual speed value of the first motor; the output torque of the second motor = (total required power / 3)*9550 / the actual speed value of the second motor; the output torque of the third motor = (total required power / 3)*9550 / the actual speed value of the second motor.
[0012] Preferably, if the current required torque level is the third level, the calculation formula for recalculating the output torque of the first motor, the second motor, the third motor and the fourth motor is: the output torque of the first motor = (total required power / 4)*9550 / the actual speed value of the first motor; the output torque of the second motor = (total required power / 4)*9550 / the actual speed value of the second motor; the output torque of the third motor = (total required power / 4)*9550 / the actual speed value of the third motor; the output torque of the fourth motor = (total required power / 4)*9550 / the actual speed value of the fourth motor.
[0013] A third aspect of the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to perform the torque distribution method as described in the above embodiment.
[0014] A fourth aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, the program being executed by a processor to perform the torque distribution method as described in the above embodiment.
[0015] Therefore, this application has at least the following beneficial effects:
[0016] The embodiment of the present application can identify the current gear state of the vehicle; if the gear state of the vehicle is in the second gear, the total required power of the current vehicle is calculated; the current required torque level of the motor is matched according to the total required power of the vehicle, and the corresponding target operation is performed according to the current required torque level. At the same time, the torque of the first motor to the fourth motor of the vehicle is redistributed to give full play to the high efficiency zone of the motor, so as to timely realize the reasonable distribution and effective control of the torque of the four motors of the vehicle, achieve the best economy, improve the cruising range of the whole vehicle, and enhance the user driving experience.
[0017] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:
[0019] Figure 1 A flowchart of a torque distribution method provided according to an embodiment of the present application;
[0020] Figure 2 It is a schematic diagram of the structure of a vehicle provided according to an embodiment of the present application. DETAILED DESCRIPTION
[0021] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.
[0022] The torque distribution method, vehicle and storage medium of the embodiments of the present application are described below with reference to the accompanying drawings.
[0023] Specifically, Figure 1 A schematic flow chart of a torque distribution method provided in an embodiment of the present application.
[0024] like Figure 1 As shown, the torque distribution method includes the following steps:
[0025] In step S101 , the current gear status of the vehicle is identified.
[0026] It is understandable that the embodiments of the present application can identify the gear status of the current vehicle to facilitate the subsequent calculation of the total required power of the current vehicle.
[0027] In step S102, if the gear state of the vehicle is in the second gear, the total required power of the current vehicle is calculated.
[0028] It is understandable that the embodiment of the present application can calculate the current total required power of the vehicle when the gear state of the vehicle is in the second gear, so as to subsequently match the current required torque level of the motor according to the total required power of the vehicle.
[0029] In an embodiment of the present application, the total required power of the current vehicle is calculated, including: obtaining the actual vehicle speed, pedal opening and actual speed value of each motor; querying a first preset table and a second preset table respectively according to the actual vehicle speed and pedal opening to determine the required torque value corresponding to each motor, and determining the total required torque of the current vehicle according to the required torque value; calculating the total required power of the current vehicle according to the actual speed value of each motor and the corresponding required torque value of each motor.
[0030] The first preset table is a shift curve MAP1 table of vehicle speed-accelerator pedal opening, and the second preset table is a shift curve MAP2 table of vehicle speed-accelerator pedal opening.
[0031] It can be understood that the embodiment of the present application can query the first preset table and the second preset table respectively according to the actual vehicle speed and pedal opening to determine the required torque value corresponding to each motor, and determine the total required torque of the current vehicle according to the required torque value; calculate the total required power of the current vehicle according to the actual speed value of each motor and the corresponding required torque value of each motor, so as to facilitate the subsequent matching of the current required torque level of the motor according to the total required power of the vehicle.
[0032] It should be noted that the vehicle collects actual vehicle speed and pedal opening information in real time. The vehicle speed reflects the current operating state of the vehicle, and the power required by the vehicle at different speeds is different; the pedal opening is directly related to the driver's driving intention. For example, a large pedal opening means that the driver expects greater acceleration and requires greater torque output, while a small pedal opening corresponds to a lower power demand.
[0033] Specifically, when the vehicle is in D2 gear, the required torque values corresponding to the first motor and the fourth motor are searched in the first preset table according to the current vehicle speed and the pedal opening, and the required torque values corresponding to the second motor and the third motor are searched in the second preset table, as shown in Tables 1 and 2 below.
[0034] Table 1 MAP1 table of vehicle speed-accelerator pedal opening shift curve
[0035] Opening / speed 0 5 10 15 20 25 30 35 40 45 50 55 60 65 70 75 80 85 90 95 100 105 110 115 120 125 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 5 900 900 900 900 900 900 900 800 700 700 700 660 630 600 580 570 510 460 400 360 320 300 280 230 230 0 10 3200 3200 3100 2850 2630 2500 2250 2070 1870 1780 1690 1570 1450 1350 1260 1190 1090 1010 950 840 780 730 690 620 540 0 15 5500 5500 5300 4800 4360 4100 3600 3340 3040 2860 2680 2480 2270 2100 1940 1810 1670 1560 1500 1320 1240 1160 1100 1010 850 0 20 7800 7800 7500 6750 6090 5700 4950 4610 4210 3940 3670 3390 3090 2850 2620 2430 2250 2110 2050 1800 1730 1590 1510 1400 1160 0 25 10100 10100 9700 8700 7820 7300 6300 5880 5380 5020 4660 4300 3910 3600 3300 3050 2830 2660 2600 2280 2160 2020 1920 1790 1470 0 30 12400 12400 11900 10650 9550 8900 7650 7150 6550 6100 5650 5210 4730 4350 3980 3670 3410 3210 3150 2760 2620 2450 2330 2180 1780 0 35 14700 14700 14100 12600 11280 10500 9000 8420 7720 7180 6640 6120 5550 5100 4660 4290 3990 3760 3700 3240 3080 2880 2740 2570 2090 0 40 17000 17000 16300 14550 13010 12100 10350 9690 8890 8260 7630 7030 6370 5850 5340 4910 4570 4310 4250 3720 3540 3310 3150 2960 2400 0 45 19300 19300 18500 16500 14740 13700 11700 10960 10060 9340 8620 7940 7190 6600 6020 5530 5150 4860 4800 4200 4000 3740 3560 3350 2710 0 50 21600 21600 20700 18450 16470 15300 13050 12230 11230 10420 9610 8850 8010 7350 6700 6150 5730 5410 5350 4680 4460 4170 3970 3740 3020 0 55 23900 23900 22900 20400 18200 16900 14400 13500 12400 11500 10600 9760 8830 8100 7380 6770 6310 5960 5900 5160 4920 4600 4380 4130 3330 0 60 26200 26200 25100 22350 19930 18500 15750 14770 13570 12580 11590 10670 9650 8850 8060 7390 6890 6510 6450 5640 5380 5030 4790 4520 3640 0 65 28500 28500 27300 24300 21660 20100 17100 16040 14740 13660 12580 11580 10470 9600 8740 8010 7470 7060 7000 6120 5840 5460 5200 4910 3950 0 70 30800 30800 29500 26250 23390 21700 18450 17310 15910 14740 13570 12490 11290 10350 9420 8630 8050 7610 7550 6600 6300 5890 5610 5300 4260 0 75 33100 33100 31700 28200 25120 23300 19800 18580 17080 15820 14560 13400 12110 11100 10100 9250 8630 8160 8100 7080 6760 6320 6020 5690 4570 0 80 35400 35400 33900 30150 26850 24900 21150 19850 18250 16900 15550 14310 12930 11850 10780 9870 9210 8710 8650 7560 7220 6750 6430 6080 4880 0 85 37700 37700 36100 32100 28580 26500 22500 21120 19420 17980 16540 15220 13750 12600 11460 10490 9790 9260 9200 8040 7680 7180 6840 6470 5190 0 90 40000 40000 38300 34050 30310 27536 23850 22390 20590 19060 17530 16130 14570 13350 12140 11110 10370 9810 9750 8520 8140 7610 7250 6860 5500 0 95 42000 42000 40000 36000 32000 27943 24500 23600 21760 20140 18520 17040 15390 14100 12820 11730 10950 10360 10100 9000 8600 8040 7660 7250 5810 0 100 42000 42000 40000 36500 32000 28000 25500 23600 22000 20400 18800 17200 15700 14400 13500 12300 11500 10800 10200 9600 9000 8500 8000 7600 6000 0
[0036] Table 2 Shift curve MAP2 of vehicle speed-accelerator pedal opening
[0037] Opening\Speed 0 5 10 15 20 25 30 35 40 45 50 55 60 65 70 75 80 85 90 95 100 105 110 115 120 125 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 5 900 900 900 800 800 800 700 700 700 700 700 600 500 400 300 300 300 300 300 300 300 200 200 200 0 0 10 2800 2800 2800 2500 2200 1900 1700 1600 1600 1600 1600 1400 1200 1000 800 750 700 600 580 520 480 350 350 350 0 0 15 4700 4700 4700 4200 3600 3000 2700 2500 2500 2500 2500 2200 1900 1600 1300 1200 1100 900 860 740 660 500 500 500 0 0 20 6600 6600 6600 5900 5000 4100 3700 3400 3400 3400 3400 3000 2600 2200 1800 1650 1500 1200 1140 960 840 650 650 650 0 0 25 8500 8500 8500 7600 6400 5200 4700 4300 4300 4300 4300 3800 3300 2800 2300 2100 1900 1500 1420 1180 1020 800 800 800 0 0 30 10400 10400 10400 9300 7800 6300 5700 5200 5200 5200 5200 4600 4000 3400 2800 2550 2300 1800 1700 1400 1200 950 950 950 0 0 35 12300 12300 12300 11000 9200 7400 6700 6100 6100 6100 6100 5400 4700 4000 3300 3000 2700 2100 1980 1620 1380 1100 1100 1100 0 0 40 14200 14200 14200 12700 10600 8500 7700 7000 7000 7000 7000 6200 5400 4600 3800 3450 3100 2400 2260 1840 1560 1250 1250 1250 0 0 45 16100 16100 16100 14400 12000 9600 8700 7900 7900 7900 7900 7000 6100 5200 4300 3900 3500 2700 2540 2060 1740 1400 1400 1400 0 0 50 18000 18000 18000 16100 13400 10700 9700 8800 8800 8800 8800 7800 6800 5800 4800 4350 3900 3000 2820 2280 1920 1550 1550 1550 0 0 55 19900 19900 19900 17800 14800 11800 10700 9700 9700 9700 9700 8600 7500 6400 5300 4800 4300 3300 3100 2500 2100 1700 1700 1700 0 0 60 21800 21800 21800 19500 16200 12900 11700 10600 10600 10600 10600 9400 8200 7000 5800 5250 4700 3600 3380 2720 2280 1850 1850 1850 0 0 65 23700 23700 23700 21200 17600 14000 12700 11500 11500 11500 11500 10200 8900 7600 6300 5700 5100 3900 3660 2940 2460 2000 2000 2000 0 0 70 25600 25600 25600 22900 19000 15100 13700 12400 12400 12400 12400 11000 9600 8200 6800 6150 5500 4200 3940 3160 2640 2150 2150 2150 0 0 75 27500 27500 27500 24600 20400 16200 14700 13300 13300 13300 13300 11800 10300 8800 7300 6600 5900 4500 4220 3380 2820 2300 2300 2300 0 0 80 29400 29400 29400 26300 21800 17300 15700 14200 14200 14200 14200 12600 11000 9400 7800 7050 6300 4800 4500 3600 3000 2450 2450 2450 0 0 85 7000 31300 31300 28000 23200 18800 16700 15100 15100 15100 15100 13400 11700 10000 8300 7500 6700 5100 4780 3820 3180 2600 2600 2600 0 0 90 7000 32000 32000 29000 24000 20000 18000 16000 16000 16000 16000 14000 12500 11500 10000 8000 7000 6000 5000 4000 3600 3300 3100 2900 0 0 95 7000 32000 32000 29000 24000 20000 18000 16000 16000 16000 16000 14000 12500 11500 10000 8000 7000 6000 5000 4000 3600 3300 3100 2900 0 0 100 7000 7000 7000 7000 7000 7000 7000 7000 7000 7000 7000 7000 7000 7000 6500 6000 5500 5000 4500 4000 3600 3300 3100 2900 0 0
[0038] According to the above table, the required torque values of the four motors are obtained through initial table lookup: Trq_Mot1_cmd, Trq_Mot2_cmd, Trq_Mot3_cmd, and Trq_Mot4_cmd.
[0039] The actual speed values of the motor obtained through the sensor are: 1_SpeedCurr, Mot2_SpeedCurr, Mot3_SpeedCurr, Mot4_SpeedCurr, and the current required power of the vehicle is calculated respectively:
[0040] Pwr_Motl=Trq_Motl_cmd*Motl_SpeedCurr / 9550
[0041] Pwr_Mot2=Trq_Mot2_cmd*Mot2_SpeedCurr / 9550
[0042] Pwr_Mot3=Trq_Mot3_cmd*Mot3_SpeedCurr / 9550
[0043] Pwr_Mot4=Trq_Mot4_cmd*Mot1_SpeedCurr / 9550
[0044] Pwr_Total (total required power) = Pwr_Mot1 + Pwr_Mot2 + Pwr_MOt3 + Pwr_MOt4.
[0045] In step S103 , the current required torque level of the motor is matched according to the total required power of the vehicle, the corresponding target operation is performed according to the current required torque level, and the torque of the first to fourth motors of the vehicle are redistributed.
[0046] It can be understood that the embodiments of the present application can match the current required torque level of the motor according to the total required power of the vehicle, perform corresponding target operations according to the current required torque level, and at the same time redistribute the torque of the first to fourth motors of the vehicle to give full play to the high efficiency zone of the motor, thereby being able to timely realize the reasonable allocation and effective control of the torque of the four motors of the vehicle, achieve optimal economy, improve the cruising range of the entire vehicle, and enhance the user driving experience.
[0047] In an embodiment of the present application, the current required torque level of the motor is matched according to the total required power of the vehicle, including: when the total required power is less than a first preset value, the current required torque level is the first level; when the total required power is greater than the first preset value and less than the second preset value, the current required torque level is the third level; when the total required power is greater than the second preset value, the current required torque level is the third level.
[0048] Among them, the first preset value, the second preset value, and the third preset value can be set according to actual needs without specific limitation.
[0049] It can be understood that the embodiments of the present application can match the current required torque level of the motor according to the total required power, so as to perform corresponding operations according to different levels later.
[0050] In an embodiment of the present application, a corresponding target operation is performed according to the current required torque level, including: if the current required torque level is the first level, the driver's current driving intention is a low throttle acceleration intention, and the vehicle's middle and rear axles are controlled to switch from the second gear to the target gear; if the current required torque level is the second level, the driver's current driving intention is a medium throttle acceleration intention, and the vehicle is controlled to keep the middle axle gear unchanged, and the rear axle switches from the second gear to the target gear; if the current required torque level is the third level, the driver's current driving intention is a high throttle acceleration intention, and the vehicle is controlled to keep both the middle and rear axles in the second gear.
[0051] Among them, the target gear is N gear.
[0052] Specifically, the working range of the whole vehicle is divided into three working levels, namely Total4_TrqCmd_flag_Lv1, Total4_TrqCmd_flag_Lv2, and Total4_TrqCmd_flag_Lv3, through the motor high-efficiency zone division. When the total required torque and power are less than the first preset value, it is in the first working level: Total4_TrqCmd_flag_Lv1, the driver's current driving intention is a low throttle acceleration intention, and the current vehicle meets the gear switching condition from D2 gear to N gear, and the middle and rear axles of the vehicle are controlled to perform the N gear switching operation at the same time;
[0053] When the total required torque and power are greater than the first preset value and less than the second preset value, it is in the second working level: Total4_TrqCmd_flag_Lv2, the driver's current driving intention is the medium throttle acceleration intention, and the current vehicle meets the operation of switching one axle back to N gear, that is, keeping the middle axle gear unchanged, and switching the current gear of the rear axle back to N gear;
[0054] When the total required torque and power are greater than the second preset value, it is in the third working level: Total4_TrqCmd_flag_Lv3. The driver's current driving intention is a high throttle acceleration intention, and the current vehicle does not meet the N gear operation, that is, the middle bridge gear position remains unchanged and is in gear.
[0055] In an embodiment of the present application, torque is redistributed for the four motors of the vehicle according to the current required torque level, including: if the current required torque level is the first level, the output torque of the first motor and the fourth motor is controlled to be the target torque, and the output torque of the second motor and the third motor is recalculated; if the current required torque level is the second level, the output torque of the fourth motor is controlled to be the target torque, and the output torque of the first motor, the second motor and the third motor is recalculated; if the current required torque level is the third level, the output torque of the first motor, the second motor, the third motor and the fourth motor are recalculated.
[0056] Among them, the target torque is 0.
[0057] Specifically, if the current required torque level is the first level, the calculation formula for recalculating the output torque of the second motor and the third motor is: the output torque of the second motor = (total required power / 2)*9550 / the actual speed value of the second motor; the output torque of the third motor = (total required power / 2)*9550 / the actual speed value of the third motor.
[0058] If the current required torque level is the second level, the calculation formula for recalculating the output torque of the first motor, the second motor and the third motor is: the output torque of the first motor = (total required power / 3)*9550 / the actual speed value of the first motor; the output torque of the second motor = (total required power / 3)*9550 / the actual speed value of the second motor; the output torque of the third motor = (total required power / 3)*9550 / the actual speed value of the second motor.
[0059] If the current required torque level is the third level, the calculation formula for recalculating the output torque of the first motor, the second motor, the third motor and the fourth motor is: the output torque of the first motor = (total required power / 4)*9550 / the actual speed value of the first motor; the output torque of the second motor = (total required power / 4)*9550 / the actual speed value of the second motor; the output torque of the third motor = (total required power / 4)*9550 / the actual speed value of the third motor; the output torque of the fourth motor = (total required power / 4)*9550 / the actual speed value of the fourth motor.
[0060] It should be noted that when the vehicle is working in Total4_TrqCmd_flag_Lv1 mode, it is required to switch TCU1 (the corresponding working motor is Trq_Mot1_cmd) and TCU2 (the corresponding working motor is Trq_Mot4_cmd) from D2 to N gear at the same time, that is:
[0061] Trq_Mot1_cmd_Re=0;
[0062] Trq_Mot4_cmd_Re=0;
[0063] Trq_Mot2_cmd_Re=(Pwr_Total / 2)*9550 / Mot2_SpeedCurr;
[0064] Trq_Mot3_cmd_Re=(Pwr_Total / 2)*9550 / Mot3_SpeedCurr.
[0065] When the vehicle is working in Total4_TrqCmd_flag_Lv2 mode, TCU2 (the corresponding working motor is Trq_Mot4_cmd) needs to be switched from D2 to N gear at the same time, and the gear state of TCU1 remains unchanged;
[0066] Trq_Mot1_cmd_Re=(Pwr_Total / 3)*9550 / Mot1_SpeedCurr;
[0067] Trq_Mot4_cmd_Re=0;
[0068] Trq_Mot2_cmd_Re=(Pwr_Total / 3)*9550 / Mot2_SpeedCurr;
[0069] Trq_Mot3_cmd_Re=(Pwr_Total / 3)*9550 / Mot3_SpeedCurr.
[0070] When the vehicle is working in Total4_TrqCmd_flag_Lv3 mode, it is necessary to keep TCU1 (the corresponding working motor is Trq_Mot1_cmd) and TCU2 (the corresponding working motor is Trq_Mot4_cmd) in the current gear unchanged, that is, D2 gear; that is:
[0071] Trq_Mot1_cmd_Re=(Pwr_Total / 4)*9550 / Mot1_SpeedCurr;
[0072] Trq_Mot4_cmd_Re=(Pwr_Total / 4)*9550 / Mot4_SpeedCurr;
[0073] Trq_Mot2_cmd_Re=(Pwr_Total / 4)*9550 / Mot2_SpeedCurr;
[0074] Trq_Mot3_cmd_Re=(Pwr_Total / 4)*9550 / Mot3_SpeedCurr;
[0075] Among them, Trq_Mot1_cmd and Trq_Mot4_cmd are obtained based on MAP1 table lookup, and Trq_Mot2_cmd and Trq_Mot3_cmd are obtained based on MAP2 table lookup.
[0076] According to the torque distribution method proposed in the embodiment of the present application, the current gear state of the vehicle is identified; if the gear state of the vehicle is in the second gear, the total required power of the current vehicle is calculated; the current required torque level of the motor is matched according to the total required power of the vehicle, and the corresponding target operation is performed according to the current required torque level. At the same time, the torque of the first to fourth motors of the vehicle is redistributed to give full play to the high efficiency zone of the motor, so as to timely realize the reasonable distribution and effective control of the torque of the four motors of the vehicle, achieve the best economy, improve the cruising range of the whole vehicle, and enhance the user driving experience.
[0077] Figure 2 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:
[0078] A memory 201 , a processor 202 , and a computer program stored in the memory 201 and executable on the processor 202 .
[0079] When the processor 202 executes the program, the torque distribution method provided in the above embodiment is implemented.
[0080] Furthermore, the vehicle also includes:
[0081] The communication interface 202 is used for communication between the memory 201 and the processor 202 .
[0082] The memory 201 is used to store computer programs that can be run on the processor 202 .
[0083] The memory 201 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.
[0084] If the memory 201, the processor 202 and the communication interface 202 are implemented independently, the communication interface 202, the memory 201 and the processor 202 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 2 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.
[0085] Optionally, in a specific implementation, if the memory 201, the processor 202 and the communication interface 202 are integrated on a chip, the memory 201, the processor 202 and the communication interface 202 can communicate with each other through an internal interface.
[0086] The processor 202 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.
[0087] An embodiment of the present application also provides a computer-readable storage medium having a computer program or instructions stored thereon. When the computer program or instructions are executed by a processor, the torque distribution method as described above is implemented.
[0088] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. 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 application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.
[0089] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.
[0090] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.
[0091] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one or a combination of multiple of the following technologies known in the art: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.
[0092] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.
Claims
1. A torque distribution method, characterized in that: The following steps are involved: Identify the current gear status of the vehicle; If the gear state of the vehicle is in the second gear, then calculating the total required power of the current vehicle; The current required torque level of the motor is matched according to the total required power of the vehicle, a corresponding target operation is performed according to the current required torque level, and torque is redistributed among the first to fourth motors of the vehicle.
2. The torque distribution method according to claim 1, characterized in that: The calculating of the total required power of the current vehicle includes: Get the actual vehicle speed, pedal opening and actual speed of each motor; According to the actual vehicle speed and the pedal opening, respectively query a first preset table and a second preset table to determine a required torque value corresponding to each motor, and determine a total required torque of the current vehicle according to the required torque value; The total required power of the current vehicle is calculated according to the actual rotation speed value of each motor and the corresponding required torque value of each motor.
3. The torque distribution method according to claim 2, characterized in that: The matching of the current required torque level of the motor according to the total required power of the vehicle comprises: When the total required power is less than the first preset value, the current required torque level is the first level; When the total required power is greater than the first preset value and less than the second preset value, the current required torque level is the third level; When the total required power is greater than the second preset value, the current required torque level is the third level.
4. The torque distribution method according to claim 3, characterized in that: The performing a corresponding target operation according to the current required torque level includes: If the current required torque level is the first level, the driver's current driving intention is a low throttle acceleration intention, and the rear axle of the vehicle is controlled to switch from the second gear to the target gear; If the current required torque level is the second level, the driver's current driving intention is a medium throttle acceleration intention, the vehicle is controlled to keep the middle axle gear unchanged, and the rear axle is switched from the second gear to the target gear; If the current required torque level is the third level, the driver's current driving intention is a high throttle acceleration intention, and the vehicle is controlled to keep the middle bridge in the second gear.
5. The torque distribution method according to claim 4, characterized in that: The redistributing of torque to four motors of the vehicle according to the current required torque level includes: If the current required torque level is the first level, the output torques of the first motor and the fourth motor are controlled to be the target torque, and the output torques of the second motor and the third motor are recalculated; If the current required torque level is the second level, the output torque of the fourth motor is controlled to be the target torque, and the output torques of the first motor, the second motor and the third motor are recalculated; If the current required torque level is the third level, the output torques of the first motor, the second motor, the third motor, and the fourth motor are recalculated.
6. The torque distribution method according to claim 5, characterized in that: If the current required torque level is the first level, the calculation formula for recalculating the output torque of the second motor and the third motor is: Output torque of the second motor = (total required power / 2)*9550 / actual speed of the second motor; The output torque of the third motor=(total required power / 2)*9550 / actual speed value of the third motor.
7. The torque distribution method according to claim 5, characterized in that: If the current required torque level is the second level, the calculation formula for recalculating the output torque of the first motor, the second motor and the third motor is: Output torque of the first motor = (total required power / 3)*9550 / actual speed of the first motor; Output torque of the second motor = (total required power / 3)*9550 / actual speed of the second motor; The output torque of the third motor=(total required power / 3)*9550 / actual speed value of the second motor.
8. The torque distribution method according to claim 5, characterized in that: If the current required torque level is the third level, the calculation formula for recalculating the output torque of the first motor, the second motor, the third motor and the fourth motor is: Output torque of the first motor = (total required power / 4)*9550 / actual speed of the first motor; Output torque of the second motor = (total required power / 4)*9550 / actual speed of the second motor; Output torque of the third motor = (total required power / 4)*9550 / actual speed of the third motor; The output torque of the fourth motor=(total required power / 4)*9550 / actual speed value of the fourth motor.
9. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the torque distribution method according to any one of claims 1 to 5.
10. A computer-readable storage medium having a computer program or instruction stored thereon, characterized in that: When the computer program or instruction is executed by a processor, it is used to implement the torque distribution method as described in any one of claims 1-5.