Torque control method, vehicle and storage medium

Abstract

The present application provides a torque control method, a vehicle and a storage medium, which belongs to the field of automobile technology. The method includes: determining the theoretical turning radius of the vehicle according to the left and right wheel speeds of the rear axle of the vehicle, the theoretical turning radius being the turning radius of the vehicle's driving path when the vehicle turns at the current left and right wheel speeds of the rear axle during the turning process; obtaining the vehicle's speed and accelerator pedal opening; determining the vehicle's rear axle limiting torque according to the vehicle speed, accelerator pedal opening and theoretical turning radius; and controlling the vehicle's torque distribution based on the rear axle limiting torque. Through this solution, during the vehicle's turning process, the vehicle's torque can be controlled according to the turning radius and vehicle speed without obtaining the steering angle. Even in a vehicle that is not equipped with a steering sensor, the vehicle can be kept balanced during the turning process, preventing the vehicle from being unbalanced during the turning process, reducing the imbalance of the vehicle, and thus optimizing the driving experience.

Description

Technical Field

[0001] The present application belongs to the field of automobile technology, and in particular, relates to a torque control method, a vehicle and a storage medium. Background Art

[0002] In four-wheel drive electric vehicles, torque control plays an important role in maintaining vehicle stability. Torque control refers to controlling the vehicle's speed and acceleration by adjusting the motor's output power and torque. Accordingly, torque control of four-wheel drive electric vehicles can be achieved in a variety of ways, for example, by changing the motor's output power, speed, or battery voltage to adjust the torque of the four-wheel drive electric vehicle.

[0003] In the related art, most torque control of four-wheel drive vehicles distributes torque based on the front and rear loads of the vehicle or a fixed ratio. However, when turning, if the torque is still distributed according to the front and rear loads of the vehicle or a fixed ratio, the steering force may be insufficient or excessive, resulting in understeering or oversteering of the vehicle.

[0004] Therefore, it is necessary to adjust the torque distribution of the vehicle when the vehicle turns. Summary of the invention

[0005] The purpose of the present application is to provide a torque control method, a vehicle and a storage medium, aiming to solve the problem of unstable driving during cornering of traditional vehicles.

[0006] A first aspect of an embodiment of the present application provides a torque control method, the method comprising:

[0007] Determine a theoretical turning radius of the vehicle according to the left and right wheel speeds of the rear axle of the vehicle, wherein the theoretical turning radius is the turning radius of the driving path of the vehicle when the vehicle turns at the current left and right wheel speeds of the rear axle;

[0008] Obtaining the vehicle speed and accelerator pedal opening of the vehicle;

[0009] Determining a rear axle limit torque of the vehicle according to the vehicle speed, the accelerator pedal opening and the theoretical turning radius;

[0010] Based on the rear axle limit torque, torque distribution of the vehicle is controlled.

[0011] In an embodiment of the present application, the turning radius of the vehicle is determined by the left and right wheel speeds of the rear axle of the vehicle, and the rear axle limiting torque required by the rear axle when the vehicle turns smoothly is predicted by the turning radius, vehicle speed and accelerator pedal opening. The torque output of the vehicle is controlled based on the rear axle limiting torque. In this way, during the turning process of the vehicle, there is no need to obtain the steering angle through a specific function to control the torque of the vehicle. Therefore, even in a vehicle that is not equipped with functions such as a steering sensor, the torque output of the vehicle can be accurately controlled to maintain balance during the turning process. In addition, by predicting the turning radius of the vehicle, it is determined whether the current torque of the vehicle meets the torque requirement of the vehicle turning, so that the vehicle can adjust the torque of the vehicle in time according to the turning radius and vehicle speed when turning, so that the vehicle can maintain balance during the turning process and prevent the vehicle from being unbalanced during the turning process, thereby optimizing the driving experience.

[0012] In some embodiments, controlling the torque distribution of the vehicle based on the rear axle limit torque includes:

[0013] Determining a required torque of a rear axle of the vehicle based on the vehicle speed and the accelerator pedal opening;

[0014] If the rear axle limit torque is less than the rear axle required torque, determining the rear axle limit torque as the rear axle output torque of the vehicle;

[0015] If the rear axle limit torque is not less than the rear axle required torque, determining the rear axle required torque as the rear axle output torque of the vehicle;

[0016] Torque distribution of the vehicle is controlled based on the rear axle output torque.

[0017] In this implementation, the rear axle output torque of the vehicle is limited by the rear axle required torque to prevent the rear axle output torque from exceeding the rear axle limit torque and affecting the use of the vehicle.

[0018] In some embodiments, determining the required torque of the rear axle of the vehicle based on the vehicle speed and the accelerator pedal opening includes:

[0019] determining a driver demand torque of the vehicle according to the vehicle speed and the accelerator pedal opening;

[0020] According to the vehicle speed, determining the torque adjustment parameter corresponding to the vehicle speed from the corresponding relationship between the vehicle speed and the torque adjustment parameter;

[0021] Obtaining the rear wheel load and vehicle weight of the vehicle;

[0022] A rear axle required torque of the vehicle is determined according to the driver required torque, the rear wheel load, the vehicle weight and the torque adjustment parameter.

[0023] In this implementation, the rear axle required torque of the vehicle is adjusted according to the corresponding relationship between the preset vehicle speed and the torque adjustment parameter, thereby achieving control of the rear axle required torque according to the vehicle speed and ensuring the accuracy of the rear axle required torque.

[0024] In some embodiments, determining the rear axle required torque of the vehicle according to the driver required torque, the rear wheel load, the vehicle weight and the torque adjustment parameter includes:

[0025] determining a ratio of the rear wheel load to the vehicle weight;

[0026] The product of the driver demand torque, the ratio and the torque adjustment parameter is determined as a rear axle demand torque of the vehicle.

[0027] In this implementation, the ratio of the rear axle required torque to the driver's required torque is determined by the ratio of the wheel load to the vehicle weight, and then the obtained torque is limited by the torque adjustment parameters. This ensures the coordination of the front and rear axle torque distribution, while controlling the rear axle required torque according to the vehicle speed, thereby ensuring the accuracy of the rear axle required torque.

[0028] In some embodiments, determining the theoretical turning radius of the vehicle according to the left and right wheel speeds of the rear axle of the vehicle includes:

[0029] Get the rear axle track of the vehicle;

[0030] The theoretical turning radius of the vehicle is determined according to the relationship between the rear wheel track, the left and right wheel speeds of the rear axle and the turning radius under the condition of neutral steering of the vehicle.

[0031] In this implementation, the relationship between the rear wheel track, the left and right wheel speeds of the rear axle and the turning radius is calibrated in advance. In this way, during the driving of the vehicle, the theoretical turning radius of the vehicle can be directly obtained from the relationship between the rear wheel track, the left and right wheel speeds of the rear axle and the turning radius based on relevant parameters, thereby improving the efficiency of the vehicle in determining the theoretical turning radius.

[0032] In some embodiments, determining the rear axle limit torque of the vehicle according to the vehicle speed, the accelerator pedal opening and the theoretical turning radius includes:

[0033] Determining a turning limit torque of the vehicle according to the accelerator pedal opening and the theoretical turning radius;

[0034] According to the theoretical turning radius, determining a first limiting parameter from a corresponding relationship between the turning radius and the limiting parameter;

[0035] According to the vehicle speed, determining a second limiting parameter from a corresponding relationship between the vehicle speed and the limiting parameter;

[0036] The product of the turning limit torque, the first limit parameter, and the second limit parameter is determined as the rear axle limit torque.

[0037] In this implementation, the turning limit torque of the vehicle is determined according to the accelerator pedal opening and the theoretical turning radius of the vehicle, the first limit parameter is determined according to the theoretical turning radius, and the second limit parameter is determined according to the vehicle speed. In this way, the rear axle limit torque is determined according to the first limit parameter, the second limit parameter and the turning limit torque. In this way, the turning limit torque is adjusted according to the vehicle speed and the turning radius to obtain the rear axle limit torque, which ensures that the vehicle can travel smoothly at the corresponding vehicle speed and turning radius.

[0038] In some embodiments, determining the turning limit torque of the vehicle according to the accelerator pedal opening and the theoretical turning radius includes:

[0039] Selecting a target corresponding relationship between a turning radius and a turning limit torque according to the accelerator pedal opening;

[0040] According to the theoretical turning radius, a turning limit torque corresponding to the theoretical turning radius is determined from the target corresponding relationship.

[0041] In this implementation, the vehicle determines the turning limit torque according to a preset corresponding relationship, which improves the efficiency of determining the turning limit torque, so that the vehicle can adjust the torque in time, thereby ensuring the stable driving of the vehicle.

[0042] In some embodiments, selecting a target correspondence between a turning radius and a turning limit torque according to the accelerator pedal opening includes:

[0043] If the accelerator pedal opening is less than a preset opening, determining a first corresponding relationship between a turning radius and a turning limit torque as the target corresponding relationship;

[0044] If the accelerator pedal opening is not less than a preset opening, determining a second corresponding relationship between a turning radius and a turning limit torque as the target corresponding relationship;

[0045] The first corresponding relationship and the second corresponding relationship are corresponding relationships between turning radius and turning limit torque calibrated based on different accelerator pedal openings.

[0046] In this implementation, a variety of correspondences between turning radii and turning limit torques are formulated according to the range of throttle pedal opening, and a matching target correspondence is selected according to the throttle pedal opening. This ensures that when the vehicle turns at different steering angles under different throttle pedal openings, the appropriate turning limit torque can be selected, thereby ensuring that the vehicle can remain stable when turning.

[0047] A second aspect of an embodiment of the present application provides a torque control device, the device comprising:

[0048] A first determining unit is used to determine a theoretical turning radius of the vehicle according to the left and right wheel speeds of the rear axle of the vehicle, wherein the theoretical turning radius is a turning radius of a driving path of the vehicle when the vehicle turns at the current left and right wheel speeds of the rear axle;

[0049] An acquisition unit, used to acquire the vehicle speed and accelerator pedal opening of the vehicle;

[0050] A second determining unit, configured to determine a rear axle limit torque of the vehicle according to the vehicle speed, the accelerator pedal opening and the theoretical turning radius;

[0051] A control unit is used to control the torque distribution of the vehicle based on the rear axle limit torque.

[0052] In some embodiments, the control unit is used to determine the rear axle required torque of the vehicle based on the vehicle speed and the accelerator pedal opening; if the rear axle limiting torque is less than the rear axle required torque, the rear axle limiting torque is determined as the rear axle output torque of the vehicle; if the rear axle limiting torque is not less than the rear axle required torque, the rear axle required torque is determined as the rear axle output torque of the vehicle; and the torque distribution of the vehicle is controlled based on the rear axle output torque.

[0053] In some embodiments, the control unit is used to determine the driver's required torque of the vehicle based on the vehicle speed and the accelerator pedal opening; determine the torque adjustment parameter corresponding to the vehicle speed from the correspondence between the vehicle speed and the torque adjustment parameter based on the vehicle speed; obtain the rear wheel load and vehicle weight of the vehicle; and determine the rear axle required torque of the vehicle based on the driver's required torque, the rear wheel load, the vehicle weight and the torque adjustment parameter.

[0054] In some embodiments, the control unit is used to determine the ratio of the rear wheel load to the vehicle weight; and determine the product of the driver's required torque, the ratio and the torque adjustment parameter as the rear axle required torque of the vehicle.

[0055] In some embodiments, the first determination unit is used to obtain the rear axle track of the vehicle; and determine the theoretical turning radius of the vehicle based on the relationship between the rear wheel track, the left and right wheel speeds of the rear axle and the turning radius under the condition of neutral steering of the vehicle.

[0056] In some embodiments, the second determination unit is used to determine the turning limit torque of the vehicle according to the accelerator pedal opening and the theoretical turning radius; determine the first limit parameter from the corresponding relationship between the turning radius and the limit parameter according to the theoretical turning radius; determine the second limit parameter from the corresponding relationship between the vehicle speed and the limit parameter according to the vehicle speed; and determine the product of the turning limit torque, the first limit parameter and the second limit parameter as the rear axle limit torque.

[0057] In some embodiments, the second determination unit is used to select a target correspondence between a turning radius and a turning limit torque according to the accelerator pedal opening; and determine the turning limit torque corresponding to the theoretical turning radius from the target correspondence according to the theoretical turning radius.

[0058] In some embodiments, the second determination unit is used to determine the first correspondence between the turning radius and the turning limit torque as the target correspondence if the accelerator pedal opening is less than a preset opening; if the accelerator pedal opening is not less than the preset opening, determine the second correspondence between the turning radius and the turning limit torque as the target correspondence; the first correspondence and the second correspondence are correspondences between the turning radius and the turning limit torque calibrated based on different accelerator pedal openings.

[0059] A third aspect of an embodiment 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 implements the torque control method described above when executing the computer program.

[0060] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the torque control method described above is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 A schematic diagram of a torque control system involved in a torque control method provided by an exemplary embodiment is shown;

[0062] Figure 2 A schematic flow chart of a torque control method provided by an exemplary embodiment is shown;

[0063] Figure 3A schematic diagram of a vehicle turning provided by an exemplary embodiment is shown;

[0064] Figure 4 A schematic diagram showing a corresponding relationship between vehicle speed and torque adjustment parameters provided by an exemplary embodiment;

[0065] Figure 5 A schematic flow chart of a torque control method provided by an exemplary embodiment is shown;

[0066] Figure 6 The corresponding relationship between the turning radius and the turning limit torque at a small throttle opening provided by an exemplary embodiment is shown;

[0067] Figure 7 The corresponding relationship between the turning radius and the turning limit torque at a large throttle opening provided by an exemplary embodiment is shown;

[0068] Figure 8 The corresponding relationship between the turning radius and the restriction parameter provided by an exemplary embodiment is shown;

[0069] Fig. 9 shows a corresponding relationship between vehicle speed and limiting parameters provided by an exemplary embodiment;

[0070] Fig.10 A schematic flow chart of a torque control method provided by an exemplary embodiment is shown;

[0071] Fig.11 A schematic structural diagram of a torque control device provided by an exemplary embodiment is shown;

[0072] Fig.12 It is a schematic diagram of the structure of a vehicle provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0073] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0074] 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 the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0075] Torque control of four-wheel-drive electric vehicles is an important aspect of electric vehicle design, which enables the vehicle to achieve better performance and maintain stability. Torque control refers to controlling the vehicle's speed and acceleration by adjusting the output power and torque of the motor. Accordingly, torque control of four-wheel-drive electric vehicles can be achieved in many ways, for example, by changing the output power, speed or battery voltage of the motor to adjust the torque of the four-wheel-drive electric vehicle.

[0076] In some embodiments, the torque control of most four-wheel drive vehicles distributes torque based on the front and rear loads of the vehicle or a fixed ratio, so that the vehicle maintains stable driving. However, when turning, if the torque is still distributed according to the front and rear loads of the vehicle or a fixed ratio, the steering force may be insufficient or excessive, resulting in understeering or oversteering of the vehicle.

[0077] In order to keep the vehicle stable during cornering, the vehicle can control the vehicle's torque by measuring the steering wheel angle to keep the vehicle stable during cornering. Alternatively, if the vehicle becomes unbalanced during cornering, the chassis vehicle dynamic control (VDC) function is triggered to control the vehicle's torque.

[0078] For the method of measuring the steering wheel angle, when the vehicle is not equipped with a steering angle sensor, the vehicle cannot control the vehicle torque by measuring the steering angle. For the method of controlling the vehicle through VDC, the driver's required torque is generally limited only after the vehicle has a stability imbalance problem. Therefore, the user will still feel the imbalance of the vehicle, resulting in a poor driving experience. In summary, a method for controlling the vehicle torque when the vehicle is turning is urgently needed.

[0079] In order to reduce the imbalance problem of the vehicle during turning, the present application provides a torque control method, device, vehicle and storage medium. The turning radius of the vehicle is determined by the left and right wheel speeds of the rear axle of the vehicle, and the rear axle limiting torque required by the rear axle when the vehicle turns smoothly is predicted by the turning radius, vehicle speed and accelerator pedal opening. The torque output of the vehicle is controlled according to the rear axle limiting torque. In this way, during the turning process of the vehicle, there is no need to obtain the steering angle through a specific function to control the torque of the vehicle. Therefore, even in a vehicle that is not equipped with functions such as a steering sensor, the torque output of the vehicle can be accurately controlled to maintain balance during the turning process. In addition, by predicting the turning radius of the vehicle, it is determined whether the current torque of the vehicle meets the torque requirement of the vehicle turning, so that the vehicle can adjust the torque of the vehicle in time according to the turning radius and vehicle speed when turning, so that the vehicle can maintain balance during the turning process, and prevent the imbalance of the vehicle during the turning process, thereby optimizing the driving experience.

[0080] Please refer to Figure 1 , which shows a schematic diagram of a torque control system involved in a torque control method provided by an exemplary embodiment. Figure 1 The torque control system includes: a driving parameter sensing system 10 and a vehicle controller 20. The driving parameter sensing system 10 is connected to the vehicle controller 20.

[0081] The driving parameter sensing system 10 is used to obtain the driving parameters of the vehicle and send the driving parameters to the vehicle controller 20. The driving parameter sensing system 10 includes a variety of sensors or other devices for obtaining different driving parameters of the vehicle. For example, the driving parameter sensing system 10 includes a vehicle speed sensor for detecting the driving speed of the vehicle and sending the driving speed of the vehicle to the vehicle controller. The driving parameter sensing system 10 also includes a wheel speed sensor for detecting the wheel speed of the vehicle and sending the wheel speed of the vehicle to the vehicle controller 20. Among them, the wheel speed sensor may include multiple ones, which are respectively arranged at different wheels. The wheel speed sent by each wheel speed sensor carries the identification corresponding to the wheel speed sensor, and the identification indicates the wheel corresponding to the wheel speed. The driving parameter sensing system 10 also includes an accelerator pedal opening sensor for detecting the accelerator pedal opening of the vehicle and sending the accelerator pedal opening to the vehicle controller 20. The driving parameter sensing system 10 may include more or fewer devices, which are not specifically limited in the embodiment of the present application. The vehicle controller 20 is used to receive the various driving parameters sent by the driving parameter sensing system 10 and control the torque of the vehicle according to the driving parameters.

[0082] The torque control method provided by the present application is described below in conjunction with specific embodiments. Figure 2 , which shows a schematic flow chart of a torque control method provided by an exemplary embodiment. As an example and not a limitation, the method is applied to a vehicle, which is equipped with the above-mentioned torque control system.

[0083] S201, the vehicle determines a theoretical turning radius of the vehicle according to the left and right wheel speeds of the rear axle of the vehicle. The theoretical turning radius is the turning radius of the vehicle's driving path when the vehicle turns at the current left and right wheel speeds of the rear axle.

[0084] The vehicle can obtain the left and right wheel speeds of the rear axle through the driving parameter sensing system.

[0085] See also Figure 3During the driving process of the vehicle, the ratio of the driving radius of the left and right wheels of the rear axle is the same as the ratio of the wheel speeds of the left and right wheels of the rear axle. Therefore, the theoretical turning radius of the vehicle is determined by the relationship between the driving radius of the left and right wheels of the rear axle and the wheel speeds of the left and right wheels of the rear axle. The process can be: the vehicle obtains the rear axle track of the vehicle; according to the relationship between the rear wheel track, the left and right wheel speeds of the rear axle and the turning radius under the condition of neutral steering of the vehicle, the theoretical turning radius of the vehicle is determined. In this way, the relationship between the rear wheel track, the left and right wheel speeds of the rear axle and the turning radius is calibrated in advance. During the driving process of the vehicle, the theoretical turning radius of the vehicle can be directly obtained from the relationship between the rear wheel track, the left and right wheel speeds of the rear axle and the turning radius according to relevant parameters, thereby improving the efficiency of the vehicle in determining the theoretical turning radius.

[0086] Please continue to see Figure 3 , the left wheel of the rear axle is the outer wheel, and the right wheel of the rear axle is the inner wheel. If the outer wheel speed is V1 and the inner wheel speed is V2, the corresponding relationship between the wheel speed and the driving radius can be expressed by Formula 1.

[0087] Formula 1:

[0088] According to the deformation of formula 1, the theoretical turning radius can be expressed by formula 2.

[0089] Formula 2:

[0090] in, is the theoretical turning radius of the vehicle, is the rear axle track of the vehicle, is the outer wheel speed, is the inner wheel speed.

[0091] In summary, after the vehicle obtains the rear axle track and the left and right wheel speeds of the rear axle, the theoretical turning radius can be determined by Formula 2.

[0092] S202, the vehicle obtains the vehicle speed and accelerator pedal opening.

[0093] The vehicle can obtain the vehicle speed and accelerator pedal opening through the driving parameter perception system.

[0094] S203: The vehicle determines a rear axle torque limit of the vehicle according to the vehicle speed, the accelerator pedal opening and the theoretical turning radius.

[0095] The vehicle determines a turning limit torque corresponding to the accelerator pedal opening and the theoretical turning radius according to the accelerator pedal opening and the theoretical turning radius, and then limits the turning limit torque based on the vehicle speed and the theoretical turning radius to obtain a rear axle limit torque.

[0096] S204, the vehicle controls the torque distribution of the vehicle based on the rear axle torque limit.

[0097] In some embodiments, the vehicle determines the rear axle limit torque as the rear axle output torque of the vehicle, and controls the torque distribution of the vehicle based on the rear axle output torque. In some embodiments, the vehicle determines the minimum torque from the rear axle limit torque and the current rear axle required torque of the vehicle, determines the minimum torque as the rear axle output torque, and controls the torque distribution of the vehicle based on the rear axle output torque. This process can be implemented by the following steps S2041-S2044, including:

[0098] S2041, the vehicle determines the required torque of the rear axle of the vehicle based on the vehicle speed and the accelerator pedal opening.

[0099] The vehicle calculates the current driver demand torque of the vehicle based on the vehicle speed and the accelerator pedal opening, and then determines the demand torque occupied by the rear axle of the vehicle, that is, the rear axle demand torque, according to the ratio of the rear wheel load and the vehicle weight. Accordingly, the vehicle determines the driver demand torque of the vehicle according to the vehicle speed and the accelerator pedal opening; determines the torque adjustment parameter corresponding to the vehicle speed from the corresponding relationship between the vehicle speed and the torque adjustment parameter according to the vehicle speed; obtains the rear wheel load and the vehicle weight of the vehicle; and determines the rear axle demand torque of the vehicle according to the driver demand torque, the rear wheel load, the vehicle weight and the torque adjustment parameter.

[0100] In this implementation, the rear axle required torque of the vehicle is adjusted according to the corresponding relationship between the preset vehicle speed and the torque adjustment parameter, thereby achieving control of the rear axle required torque according to the vehicle speed and ensuring the accuracy of the rear axle required torque.

[0101] The vehicle determines the ratio of the rear wheel load to the vehicle weight; and determines the product of the driver's required torque, the ratio and the torque adjustment parameter as the rear axle required torque of the vehicle.

[0102] In this implementation, the ratio of the rear axle required torque to the driver's required torque is determined by the ratio of the wheel load to the vehicle weight, and then the obtained torque is limited by the torque adjustment parameters. This ensures the coordination of the front and rear axle torque distribution, while controlling the rear axle required torque according to the vehicle speed, thereby ensuring the accuracy of the rear axle required torque.

[0103] The torque adjustment parameter is used to instruct the vehicle to adjust the torque according to the vehicle speed so that the vehicle can run stably. The correspondence between the vehicle speed and the torque adjustment parameter can be calibrated according to the stability of the vehicle before the vehicle leaves the factory. Accordingly, the vehicle obtains the stored correspondence between the vehicle speed and the torque adjustment parameter, and obtains the torque adjustment parameter corresponding to the vehicle speed from the correspondence between the vehicle speed and the torque adjustment parameter.

[0104] The corresponding relationship between the vehicle speed and the torque adjustment parameter can be stored in the vehicle at any time. Figure 4 , which shows a schematic diagram of the corresponding relationship between vehicle speed and torque adjustment parameter, wherein the horizontal axis represents the vehicle speed and the vertical axis represents the torque adjustment parameter.

[0105] The vehicle compares the rear axle limit torque and the rear axle required torque. If the turning limit torque is less than the rear axle required torque, step S2042 is executed; if the turning limit torque is not less than the rear axle required torque, step S2043 is executed.

[0106] S2042: If the rear axle limit torque is less than the rear axle required torque, the vehicle determines the turning limit torque as the rear axle output torque of the vehicle.

[0107] S2043 If the rear axle limiting torque is not less than the rear axle required torque, the vehicle determines the rear axle required torque as the rear axle output torque of the vehicle.

[0108] S2044, the vehicle controls the torque distribution of the vehicle based on the rear axle output torque.

[0109] In this implementation, the rear axle output torque of the vehicle is limited by the rear axle required torque to prevent the rear axle output torque from exceeding the rear axle limit torque and affecting the use of the vehicle.

[0110] The vehicle controls the vehicle to adjust the current torque of the rear axle based on the rear axle output torque. During the torque adjustment process, the vehicle can filter the output torque of the vehicle by means of torque filtering to prevent the problem of vehicle imbalance caused by sudden torque changes.

[0111] For the vehicle's front axle torque, the vehicle can determine the vehicle's required torque based on the current vehicle speed and accelerator pedal opening, and determine the difference between the required torque and the rear axle theoretical torque as the vehicle's theoretical front axle torque. Based on the theoretical front axle torque, the vehicle's front axle torque is adjusted.

[0112] The turning radius of the vehicle is determined by the left and right wheel speeds of the rear axle of the vehicle. The rear axle limiting torque required by the rear axle when the vehicle turns smoothly is predicted through the turning radius, vehicle speed and accelerator pedal opening. The vehicle's torque output is controlled based on the rear axle limiting torque. In this way, during the vehicle turning process, there is no need to use a specific function to obtain the steering angle and then control the vehicle's torque. Therefore, even in a vehicle that is not equipped with functions such as steering sensors, the vehicle's torque output can be accurately controlled to maintain balance during the turning process. In addition, by predicting the vehicle's turning radius, it is determined whether the vehicle's current torque meets the torque requirement for the vehicle to turn, so that the vehicle can adjust the vehicle's torque in time according to the turning radius and vehicle speed when turning, so that the vehicle maintains balance during the turning process and prevents the vehicle from becoming unbalanced during the turning process, thereby optimizing the driving experience.

[0113] When determining the rear axle torque limit of the vehicle according to the vehicle speed, the accelerator pedal opening and the theoretical turning radius, the vehicle can determine the limiting parameters of the rear axle torque of the vehicle such as the vehicle speed, the accelerator pedal opening, the theoretical turning radius, etc. according to the pre-calibrated corresponding relationship. Figure 5 , which shows a schematic flow chart of a torque control method provided by an exemplary embodiment. As an example and not a limitation, the method is applied to a vehicle, which is equipped with the above-mentioned torque control system.

[0114] S501, the vehicle determines a theoretical turning radius of the vehicle according to the left and right wheel speeds of the rear axle of the vehicle. The theoretical turning radius is the turning radius of the vehicle's driving path when the vehicle turns at the current left and right wheel speeds of the rear axle.

[0115] The principle of this step is the same as that of step S201 and will not be repeated here.

[0116] S502, the vehicle obtains the vehicle speed and accelerator pedal opening.

[0117] The principle of this step is the same as that of step S202 and will not be repeated here.

[0118] S503: The vehicle determines a turning limit torque of the vehicle according to the accelerator pedal opening and the theoretical turning radius.

[0119] Due to different accelerator pedal openings, the turning torque required by the vehicle is also different. Therefore, in the embodiment of the present application, the developer can first calibrate the turning radius and the turning limit torque according to the accelerator pedal openings within different value ranges. Accordingly, in this step, the vehicle selects different corresponding relationships between theoretical turning radii and turning limit torques according to the current accelerator pedal opening, and thus determines the turning limit torque corresponding to the theoretical turning radius according to the corresponding relationship. Accordingly, the vehicle selects a target corresponding relationship between the turning radius and the turning limit torque according to the accelerator pedal opening; based on the theoretical turning radius, the turning limit torque corresponding to the theoretical turning radius is determined from the target corresponding relationship.

[0120] In this implementation, the vehicle determines the turning limit torque according to a preset corresponding relationship, which improves the efficiency of determining the turning limit torque, so that the vehicle can adjust the torque in time, thereby ensuring the stable driving of the vehicle.

[0121] Among them, if the accelerator pedal opening is less than the preset opening, the first corresponding relationship between the turning radius and the turning limit torque is determined as the target corresponding relationship; if the accelerator pedal opening is not less than the preset opening, the second corresponding relationship between the turning radius and the turning limit torque is determined as the target corresponding relationship; the first corresponding relationship and the second corresponding relationship are the corresponding relationships between the turning radius and the turning limit torque calibrated based on different accelerator pedal openings.

[0122] The first correspondence is a correspondence between a turning radius calibrated based on a smaller accelerator pedal opening value range and a turning limit torque. The second correspondence is a correspondence between a turning radius calibrated based on a larger accelerator pedal opening value range and a turning limit torque. The first correspondence and the second correspondence can be obtained by calibrating the steering torque based on the standard that the vehicle can maintain stability when turning at different steering angles under different accelerator pedal openings.

[0123] The first correspondence and the second correspondence may be stored in the vehicle in any form. Figure 6 and Figure 7 , which respectively show the schematic diagram of the corresponding relationship between the turning radius and the turning limit torque under different accelerator pedal openings. Among them, the horizontal axis represents the turning radius, and the vertical axis represents the turning limit torque.

[0124] The preset opening can be set as needed, and in the embodiment of the present application, the preset opening is not specifically limited. For example, the preset opening can be 20%, 25% or 30%.

[0125] In this implementation, a variety of correspondences between turning radii and turning limit torques are formulated according to the range of throttle pedal opening, and a matching target correspondence is selected according to the throttle pedal opening. This ensures that when the vehicle turns at different steering angles under different throttle pedal openings, the appropriate turning limit torque can be selected, thereby ensuring that the vehicle can remain stable when turning.

[0126] S504: The vehicle determines a first limiting parameter based on the theoretical turning radius and from a corresponding relationship between the turning radius and the limiting parameter.

[0127] The first limiting parameter refers to the parameter that the rear axle output torque of the vehicle needs to be limited when the vehicle turns at the turning radius. The corresponding relationship between the turning radius and the limiting parameter can be calibrated according to the stability of the vehicle before the vehicle leaves the factory. Accordingly, the vehicle obtains the stored corresponding relationship between the turning radius and the limiting parameter, and obtains the first limiting parameter corresponding to the theoretical turning radius from the corresponding relationship between the turning radius and the limiting parameter.

[0128] The corresponding relationship between the turning radius and the limiting parameter can be stored in the vehicle in any form. For example, see Figure 8 , which shows a schematic diagram of the corresponding relationship between a turning radius and a limiting parameter, wherein the horizontal axis represents the turning radius and the vertical axis represents the limiting parameter.

[0129] S505: The vehicle determines a second limiting parameter based on the vehicle speed and from a corresponding relationship between the vehicle speed and the limiting parameter.

[0130] The second limiting parameter refers to the parameter that the rear axle output torque of the vehicle needs to be limited when the vehicle turns within the turning radius. The correspondence between the vehicle speed and the limiting parameter can be calibrated according to the stability of the vehicle before the vehicle leaves the factory. Accordingly, the vehicle obtains the stored correspondence between the vehicle speed and the limiting parameter, and obtains the second limiting parameter corresponding to the vehicle speed from the correspondence between the vehicle speed and the limiting parameter.

[0131] The corresponding relationship between the vehicle speed and the limiting parameter may be stored in the vehicle in any form. Fig. 9 , which shows a schematic diagram of the corresponding relationship between vehicle speed and restriction parameter, wherein the horizontal axis represents vehicle speed and the vertical axis represents restriction parameter.

[0132] S506: The vehicle determines the product of the turning limit torque, the first limit parameter and the second limit parameter as the rear axle limit torque.

[0133] In this implementation, the turning limit torque of the vehicle is determined according to the accelerator pedal opening and the theoretical turning radius of the vehicle, the first limit parameter is determined according to the theoretical turning radius, and the second limit parameter is determined according to the vehicle speed. In this way, the rear axle limit torque is determined according to the first limit parameter, the second limit parameter and the turning limit torque. In this way, the turning limit torque is adjusted according to the vehicle speed and the turning radius to obtain the rear axle limit torque, which ensures that the vehicle can travel smoothly at the corresponding vehicle speed and turning radius.

[0134] S507, the vehicle controls the torque distribution of the vehicle based on the rear axle torque limit.

[0135] The principle of this step is the same as that of step S204 and will not be repeated here.

[0136] See also Fig.10 The turning radius of the vehicle is determined by the left and right wheel speeds of the vehicle's rear axle, the turning limit torque is determined by the turning radius and the vehicle speed, and the driver's required torque is determined by the vehicle speed and the accelerator pedal opening. Based on the vehicle speed and the driver's required torque, the rear axle required torque of the vehicle is determined, and the rear axle required torque is limited based on the turning limit torque.

[0137] The turning radius of the vehicle is determined by the left and right wheel speeds of the rear axle of the vehicle. The rear axle limiting torque required by the rear axle when the vehicle turns smoothly is predicted through the turning radius, vehicle speed and accelerator pedal opening. The vehicle's torque output is controlled based on the rear axle limiting torque. In this way, during the vehicle turning process, there is no need to use a specific function to obtain the steering angle and then control the vehicle's torque. Therefore, even in a vehicle that is not equipped with functions such as steering sensors, the vehicle's torque output can be accurately controlled to maintain balance during the turning process. In addition, by predicting the vehicle's turning radius, it is determined whether the vehicle's current torque meets the torque requirement for the vehicle to turn, so that the vehicle can adjust the vehicle's torque in time according to the turning radius and vehicle speed when turning, so that the vehicle maintains balance during the turning process and prevents the vehicle from becoming unbalanced during the turning process, thereby optimizing the driving experience.

[0138] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0139] See also Fig.11 , which shows a schematic diagram of the structure of a torque control device provided by the present application, and includes various units for executing various steps in the above-mentioned embodiment, see Fig.11 , the torque control device comprises:

[0140] The first determining unit 1101 is used to determine a theoretical turning radius of the vehicle according to the left and right wheel speeds of the rear axle of the vehicle, where the theoretical turning radius is the turning radius of the driving path of the vehicle when the vehicle turns at the current left and right wheel speeds of the rear axle;

[0141] An acquisition unit 1102 is used to acquire the vehicle speed and accelerator pedal opening of the vehicle;

[0142] A second determining unit 1103 is used to determine the rear axle limit torque of the vehicle according to the vehicle speed, the accelerator pedal opening and the theoretical turning radius;

[0143] The control unit 1104 is used to control the torque distribution of the vehicle based on the rear axle limited torque.

[0144] In some embodiments, the control unit 1104 is used to determine the rear axle required torque of the vehicle based on the vehicle speed and the accelerator pedal opening; if the rear axle limiting torque is less than the rear axle required torque, the rear axle limiting torque is determined as the rear axle output torque of the vehicle; if the rear axle limiting torque is not less than the rear axle required torque, the rear axle required torque is determined as the rear axle output torque of the vehicle; and the torque distribution of the vehicle is controlled based on the rear axle output torque.

[0145] In some embodiments, the control unit 1104 is used to determine the driver's required torque of the vehicle based on the vehicle speed and the accelerator pedal opening; determine the torque adjustment parameter corresponding to the vehicle speed from the correspondence between the vehicle speed and the torque adjustment parameter based on the vehicle speed; obtain the rear wheel load and vehicle weight of the vehicle; determine the rear axle required torque of the vehicle based on the driver's required torque, the rear wheel load, the vehicle weight and the torque adjustment parameter.

[0146] In some embodiments, the control unit 1104 is used to determine the ratio of the rear wheel load to the vehicle weight; and determine the product of the driver's required torque, the ratio and the torque adjustment parameter as the rear axle required torque of the vehicle.

[0147] In some embodiments, the first determination unit 1101 is used to obtain the rear axle track of the vehicle; and determine the theoretical turning radius of the vehicle based on the relationship between the rear wheel track, the left and right wheel speeds of the rear axle and the turning radius under the condition of neutral steering of the vehicle.

[0148] In some embodiments, the second determination unit 1103 is used to determine the turning limit torque of the vehicle according to the accelerator pedal opening and the theoretical turning radius; determine the first limit parameter from the correspondence between the turning radius and the limit parameter according to the theoretical turning radius; determine the second limit parameter from the correspondence between the vehicle speed and the limit parameter according to the vehicle speed; and determine the product of the turning limit torque, the first limit parameter and the second limit parameter as the rear axle limit torque.

[0149] In some embodiments, the second determination unit 1103 is used to select a target correspondence between a turning radius and a turning limit torque according to the accelerator pedal opening; and determine the turning limit torque corresponding to the theoretical turning radius from the target correspondence according to the theoretical turning radius.

[0150] In some embodiments, the second determination unit 1103 is used to determine the first correspondence between the turning radius and the turning limit torque as the target correspondence if the accelerator pedal opening is less than a preset opening; if the accelerator pedal opening is not less than the preset opening, determine the second correspondence between the turning radius and the turning limit torque as the target correspondence; the first correspondence and the second correspondence are correspondences between the turning radius and the turning limit torque calibrated based on different accelerator pedal openings.

[0151] The turning radius of the vehicle is determined by the left and right wheel speeds of the rear axle of the vehicle. The rear axle limiting torque required by the rear axle when the vehicle turns smoothly is predicted through the turning radius, vehicle speed and accelerator pedal opening. The vehicle's torque output is controlled based on the rear axle limiting torque. In this way, during the vehicle turning process, there is no need to use a specific function to obtain the steering angle and then control the vehicle's torque. Therefore, even in a vehicle that is not equipped with functions such as steering sensors, the vehicle's torque output can be accurately controlled to maintain balance during the turning process. In addition, by predicting the vehicle's turning radius, it is determined whether the vehicle's current torque meets the torque requirement for the vehicle to turn, so that the vehicle can adjust the vehicle's torque in time according to the turning radius and vehicle speed when turning, so that the vehicle maintains balance during the turning process and prevents the vehicle from becoming unbalanced during the turning process, thereby optimizing the driving experience.

[0152] Fig.12 FIG. 1 is a schematic diagram of a vehicle provided by an exemplary embodiment of the present application. Fig.12 As shown, the vehicle 12 of this embodiment includes: a processor 120, a memory 121, and a computer program 122 stored in the memory 121 and executable on the processor 120, such as a torque control program. When the processor 120 executes the computer program 122, the steps in the above-mentioned various torque control method embodiments are implemented, such as Figure 2 Alternatively, when the processor 120 executes the computer program 122, the functions of each unit in the above-mentioned device embodiments are realized, for example Figure 8 Functions of units 801 to 803 are shown.

[0153] Exemplarily, the computer program 122 may be divided into one or more units, which are stored in the memory 121 and executed by the processor 120 to complete the present application. The one or more units may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program 122 in the vehicle 12. For example, the computer program 122 may be divided into a first determination unit, an acquisition unit, a second determination unit, and a control unit, and the specific functions of each module are as follows:

[0154] The first determining unit 1101 is used to determine a theoretical turning radius of the vehicle according to the left and right wheel speeds of the rear axle of the vehicle, wherein the theoretical turning radius is a turning radius of a driving path of the vehicle when the vehicle turns at the current left and right wheel speeds of the rear axle;

[0155] An acquisition unit 1102 is used to acquire the vehicle speed and accelerator pedal opening of the vehicle;

[0156] A second determining unit 1103 is used to determine the rear axle limit torque of the vehicle according to the vehicle speed, the accelerator pedal opening and the theoretical turning radius;

[0157] The control unit 1104 is used to control the torque distribution of the vehicle based on the rear axle limiting torque.

[0158] The vehicle 12 may be any vehicle having a control function. The vehicle 12 may include, but is not limited to, a processor 120 and a memory 121. Those skilled in the art will appreciate that Fig.12 This is only an example of the vehicle 12 and does not constitute a limitation of the vehicle 12. The vehicle 12 may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the vehicle 12 may also include input and output devices, network access devices, buses, etc.

[0159] The processor 120 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0160] The memory 121 may be an internal storage unit of the vehicle 12, such as a hard disk or memory of the vehicle 12. The memory 121 may also be an external storage device of the vehicle 12, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the vehicle 12. Further, the memory 121 may also include both an internal storage unit of the vehicle 12 and an external storage device. The memory 121 is used to store the computer program and other programs and data required by the terminal device. The memory 121 may also be used to temporarily store data that has been output or is to be output.

[0161] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0162] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0163] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0164] In the embodiments provided in the present application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0165] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0166] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0167] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0168] The embodiments of the present application further provide a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0169] The embodiment of the present application also provides a computer program product. When the computer program product runs on a mobile terminal, the mobile terminal can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0170] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A torque control method, characterized in that: The method comprises: Determine a theoretical turning radius of the vehicle according to the left and right wheel speeds of the rear axle of the vehicle, wherein the theoretical turning radius is the turning radius of the driving path of the vehicle when the vehicle turns at the current left and right wheel speeds of the rear axle; Obtaining the vehicle speed and accelerator pedal opening of the vehicle; Determining a turning limit torque of the vehicle according to the accelerator pedal opening and the theoretical turning radius; According to the theoretical turning radius, determining a first limiting parameter from a corresponding relationship between the turning radius and the limiting parameter; According to the vehicle speed, determining a second limiting parameter from a corresponding relationship between the vehicle speed and the limiting parameter; determining a product of the turning limit torque, the first limit parameter and the second limit parameter as a rear axle limit torque; Based on the rear axle limit torque, torque distribution of the vehicle is controlled.

2. The method according to claim 1, characterized in that The controlling the torque distribution of the vehicle based on the rear axle limit torque includes: Determining a required torque of a rear axle of the vehicle based on the vehicle speed and the accelerator pedal opening; If the rear axle limit torque is less than the rear axle required torque, determining the rear axle limit torque as the rear axle output torque of the vehicle; If the rear axle limit torque is not less than the rear axle required torque, determining the rear axle required torque as the rear axle output torque of the vehicle; Torque distribution of the vehicle is controlled based on the rear axle output torque.

3. The method according to claim 2, characterized in that The determining the rear axle required torque of the vehicle based on the vehicle speed and the accelerator pedal opening includes: determining a driver demand torque of the vehicle according to the vehicle speed and the accelerator pedal opening; According to the vehicle speed, determining the torque adjustment parameter corresponding to the vehicle speed from the corresponding relationship between the vehicle speed and the torque adjustment parameter; Obtaining the rear wheel load and vehicle weight of the vehicle; A rear axle required torque of the vehicle is determined according to the driver required torque, the rear wheel load, the vehicle weight and the torque adjustment parameter.

4. The method according to claim 3, characterized in that The determining the rear axle required torque of the vehicle according to the driver required torque, the rear wheel load, the vehicle weight and the torque adjustment parameter comprises: determining a ratio of the rear wheel load to the vehicle weight; The product of the driver demand torque, the ratio and the torque adjustment parameter is determined as a rear axle demand torque of the vehicle.

5. The method according to claim 1, characterized in that Determining the theoretical turning radius of the vehicle according to the left and right wheel speeds of the rear axle of the vehicle includes: Get the rear axle track of the vehicle; The theoretical turning radius of the vehicle is determined according to the relationship between the rear wheel track, the left and right wheel speeds of the rear axle and the turning radius under the condition of neutral steering of the vehicle.

6. The method according to claim 1, characterized in that The determining of the turning limit torque of the vehicle according to the accelerator pedal opening and the theoretical turning radius includes: Selecting a target corresponding relationship between a turning radius and a turning limit torque according to the accelerator pedal opening; According to the theoretical turning radius, a turning limit torque corresponding to the theoretical turning radius is determined from the target corresponding relationship.

7. The method according to claim 6, characterized in that The selecting, according to the accelerator pedal opening, a target corresponding relationship between a turning radius and a turning limit torque comprises: If the accelerator pedal opening is less than a preset opening, determining a first corresponding relationship between a turning radius and a turning limit torque as the target corresponding relationship; If the accelerator pedal opening is not less than a preset opening, determining a second corresponding relationship between a turning radius and a turning limit torque as the target corresponding relationship; The first corresponding relationship and the second corresponding relationship are corresponding relationships between turning radius and turning limit torque calibrated based on different accelerator pedal openings.

8. A vehicle, characterized in that: The vehicle comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the torque control method according to any one of claims 1 to 7.

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

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