Torque control method, device, vehicle and storage medium

Abstract

The present application provides a torque control method, device, vehicle and storage medium, belonging to the field of automobile technology, the method comprising: determining the actual wheel speed difference of the vehicle according to the left and right wheel speeds of the front axle and the left and right wheel speeds of the rear axle of the vehicle, the actual wheel speed difference being the difference between the average wheel speed of the front axle and the average wheel speed of the rear axle of the vehicle; determining the theoretical wheel speed difference of the vehicle according to the left and right wheel speeds of the rear axle and the vehicle speed; determining the difference between the actual wheel speed difference and the theoretical wheel speed difference to obtain a difference control parameter; and controlling the torque of the vehicle based on the difference control parameter. Through this solution, the vehicle torque is controlled by the front and rear axle wheel speed difference to keep the vehicle balanced during driving, thereby minimizing the occurrence of vehicle imbalance, ensuring stable driving of the vehicle, and 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, device, vehicle and 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.

[0003] In the related art, most four-wheel drive vehicles' torque control distributes torque based on the front and rear loads of the vehicle or a fixed ratio distribution, so as to keep the vehicle running stably. However, under some special working conditions, the vehicle will still be unbalanced. When the vehicle is unbalanced, the chassis traction control system (TSC) is generally used to adjust the vehicle's torque to restore the vehicle to a balanced state.

[0004] However, the above process of controlling the vehicle balance through TSC is adjusted only after the vehicle becomes unbalanced, resulting in multiple imbalance problems during vehicle driving, affecting the driving experience. Summary of the invention

[0005] The purpose of the present application is to provide a torque control method, device, vehicle and storage medium, aiming to solve the problem that traditional vehicles are often out of balance during driving, thereby affecting the driving experience.

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

[0007] Determine the actual wheel speed difference of the vehicle according to the left and right wheel speeds of the front axle and the left and right wheel speeds of the rear axle of the vehicle, wherein the actual wheel speed difference is the difference between the average wheel speed of the front axle and the average wheel speed of the rear axle of the vehicle;

[0008] Determining a theoretical wheel speed difference of the vehicle according to the left and right wheel speeds of the rear axle of the vehicle and the vehicle speed;

[0009] Determine the difference between the actual wheel speed difference and the theoretical wheel speed difference to obtain a difference control parameter;

[0010] Based on the difference control parameter, the torque of the vehicle is controlled.

[0011] In an embodiment of the present application, the actual wheel speed difference between the average wheel speed of the front axle and the average wheel speed of the rear axle is determined by the left and right wheel speeds of the front axle and the left and right wheel speeds of the rear axle, and the theoretical wheel speed difference of the vehicle is determined by the left and right wheel speeds of the rear axle and the vehicle speed. Based on the actual wheel speed difference and the theoretical wheel speed difference of the vehicle, it is determined whether to adjust the torque of the vehicle, thereby controlling the torque of the vehicle so that the vehicle can maintain balance. In this way, the torque is adjusted by the front and rear axle wheel speed difference so that the vehicle can maintain balance during driving, thereby minimizing the occurrence of vehicle imbalance, ensuring stable driving of the vehicle, and optimizing the driving experience.

[0012] In some embodiments, controlling the torque of the vehicle based on the difference control parameter includes:

[0013] If the difference control parameter is less than a preset parameter, controlling the vehicle to maintain the current torque distribution;

[0014] If the difference control parameter is not less than the preset parameter, the torque of the vehicle is controlled based on the difference control parameter.

[0015] In this implementation, when the difference control parameter is less than the preset parameter, the vehicle determines that the difference between the actual wheel speed difference of the vehicle and the theoretical wheel speed difference during stable driving is small, so there is no need to adjust the torque distribution of the vehicle. When the difference control parameter is not less than the preset parameter, the vehicle determines that the difference between the actual wheel speed difference of the vehicle and the theoretical wheel speed difference during stable driving is large, and it is necessary to adjust the torque of the vehicle to adjust the wheel speed difference, thereby preventing the vehicle from being unbalanced, allowing the vehicle to maintain balance and optimizing the driving experience.

[0016] In some embodiments, controlling the torque of the vehicle based on the difference control parameter includes:

[0017] Obtaining the vehicle speed and accelerator pedal opening of the vehicle;

[0018] The torque of the vehicle is controlled based on the difference control parameter, the vehicle speed, and the accelerator pedal opening.

[0019] In this implementation, the vehicle torque is controlled in combination with the difference control parameter, the vehicle speed and the accelerator pedal opening, so that the vehicle torque can be limited by multiple conditions, making the torque more accurate and thus making the vehicle run more smoothly.

[0020] In some embodiments, controlling the torque of the vehicle based on the difference control parameter, the vehicle speed and the accelerator pedal opening includes:

[0021] If the difference control parameter is not less than the preset parameter, the vehicle speed is not less than the preset speed, and the accelerator pedal opening is not less than the preset opening, the vehicle is controlled to adjust the torque distribution according to the difference control parameter, the vehicle speed and the accelerator pedal opening.

[0022] In this implementation, when the difference control parameter is less than the preset parameter, the vehicle determines that the difference between the actual wheel speed difference of the vehicle and the theoretical wheel speed difference during stable driving is small, so there is no need to adjust the torque distribution of the vehicle. When the vehicle speed is less than the preset speed or the accelerator pedal opening is less than the preset opening, the vehicle travels relatively smoothly, and there is no need to adjust the torque distribution of the vehicle. When the difference control parameter is not less than the preset parameter, the vehicle speed is not less than the preset speed, and the accelerator pedal opening is not less than the preset opening, the vehicle determines that the difference between the actual wheel speed difference of the vehicle and the theoretical wheel speed difference during stable driving is large, and the vehicle travels at a large speed, which is prone to instability. It is necessary to adjust the torque of the vehicle to adjust the wheel speed difference, so as to prevent the vehicle from being unbalanced, so that the vehicle can maintain balance and optimize the driving experience.

[0023] In some embodiments, controlling the vehicle to adjust torque distribution according to the difference control parameter, the vehicle speed and the accelerator pedal opening includes:

[0024] According to the difference control parameter, from the corresponding relationship between the difference control parameter and the theoretical required torque, determining the theoretical required torque corresponding to the difference control parameter;

[0025] Determining a first allocation coefficient corresponding to the vehicle speed from a first corresponding relationship between the vehicle speed and the allocation coefficient;

[0026] Determining a second distribution coefficient corresponding to the accelerator pedal opening from a second corresponding relationship between the accelerator pedal opening and the distribution coefficient;

[0027] determining a product of the theoretical required torque, the first distribution coefficient and the second distribution coefficient as a rear axle theoretical torque;

[0028] The vehicle is controlled to adjust the rear axle torque from the current torque to the rear axle theoretical torque.

[0029] In this implementation, the first distribution coefficient and the second distribution coefficient corresponding to the current driving condition of the vehicle are determined by the preset first corresponding relationship and the second corresponding relationship. This improves the efficiency of determining the first distribution coefficient and the second distribution coefficient, thereby improving the efficiency of vehicle torque distribution, ensuring that the vehicle can adjust the torque in time, and further ensuring that the vehicle can drive smoothly.

[0030] In some embodiments, determining the theoretical wheel speed difference of the vehicle according to the left and right wheel speeds of the rear axle of the vehicle and the vehicle speed includes:

[0031] Determining a theoretical turning radius of the vehicle according to the left and right wheel speeds of the rear axle;

[0032] The theoretical turning radius and the theoretical wheel speed difference corresponding to the vehicle speed are determined from the corresponding relationship among the turning radius, the vehicle speed and the wheel speed difference.

[0033] In this implementation, the vehicle determines the turning radius in the current state through the left and right wheel speeds of the rear axle, and then determines the theoretical wheel speed difference of the vehicle in the stable state corresponding to the turning radius and the vehicle speed based on the turning radius, so as to judge whether the current actual wheel speed difference of the vehicle supports the stable driving of the vehicle based on the theoretical wheel speed difference, so that the vehicle can judge the stable state of the vehicle in advance, and then adjust the torque of the vehicle in time to keep the vehicle stable.

[0034] In some embodiments, determining the theoretical turning radius of the vehicle according to the left and right wheel speeds of the rear axle includes:

[0035] Get the rear axle track of the vehicle;

[0036] 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.

[0037] 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.

[0038] A second aspect of an embodiment of the present application provides a torque control device, the device comprising:

[0039] A first determining unit, configured to determine an actual wheel speed difference of the vehicle according to the left and right wheel speeds of the front axle and the left and right wheel speeds of the rear axle of the vehicle, wherein the actual wheel speed difference is a difference between an average wheel speed of the front axle and an average wheel speed of the rear axle of the vehicle;

[0040] A second determining unit, configured to determine a theoretical wheel speed difference of the vehicle according to left and right wheel speeds of the rear axle of the vehicle and the vehicle speed;

[0041] a third determining unit, configured to determine a difference between the actual wheel speed difference and the theoretical wheel speed difference, and obtain a difference control parameter;

[0042] A control unit is used to control the torque of the vehicle based on the difference control parameter.

[0043] In some embodiments, the control unit is used to control the vehicle to maintain the current torque distribution if the difference control parameter is less than a preset parameter; if the difference control parameter is not less than the preset parameter, control the torque of the vehicle based on the difference control parameter.

[0044] In some embodiments, the control unit is used to obtain the vehicle speed and accelerator pedal opening of the vehicle; and control the torque of the vehicle based on the difference control parameter, the vehicle speed and the accelerator pedal opening.

[0045] In some embodiments, the control unit is used to control the vehicle to adjust the torque distribution according to the difference control parameter, the vehicle speed and the accelerator pedal opening if the difference control parameter is not less than the preset parameter, the vehicle speed is not less than the preset vehicle speed, and the accelerator pedal opening is not less than the preset opening.

[0046] In some embodiments, the control unit is used to determine the theoretical required torque corresponding to the difference control parameter from the correspondence between the difference control parameter and the theoretical required torque based on the difference control parameter; determine the first distribution coefficient corresponding to the vehicle speed from a first correspondence between the vehicle speed and the distribution coefficient; determine the second distribution coefficient corresponding to the accelerator pedal opening from a second correspondence between the accelerator pedal opening and the distribution coefficient; determine the product of the theoretical required torque, the first distribution coefficient and the second distribution coefficient as the rear axle theoretical torque; and control the vehicle to adjust the rear axle torque from the current torque to the rear axle theoretical torque.

[0047] In some embodiments, the second determination unit is used to determine the theoretical turning radius of the vehicle according to the left and right wheel speeds of the rear axle; and determine the theoretical turning radius and the theoretical wheel speed difference corresponding to the vehicle speed from the corresponding relationship between the turning radius, the vehicle speed and the wheel speed difference.

[0048] In some embodiments, the second 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.

[0049] 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.

[0050] 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

[0051] Figure 1 A schematic diagram of a torque control system involved in a torque control method provided by an exemplary embodiment is shown;

[0052] Figure 2 A schematic flow chart of a torque control method provided by an exemplary embodiment is shown;

[0053] Figure 3 A schematic diagram of a vehicle turning provided by an exemplary embodiment is shown;

[0054] Figure 4 A schematic flow chart of a torque control method combining a difference control parameter, a vehicle speed and an accelerator pedal opening degree provided by an exemplary embodiment is shown;

[0055] Figure 5 A schematic diagram showing a corresponding relationship between a difference control parameter and a theoretical required torque provided by an exemplary embodiment;

[0056] Figure 6 A schematic diagram showing a first corresponding relationship between vehicle speed and distribution coefficient provided by an exemplary embodiment;

[0057] Figure 7 A schematic diagram showing a second corresponding relationship between an accelerator pedal opening and a distribution coefficient provided by an exemplary embodiment;

[0058] Figure 8 A schematic diagram of a flow chart of controlling torque by combining vehicle speed and accelerator pedal opening provided by an exemplary embodiment is shown;

[0059] Figure 9 A schematic structural diagram of a torque control device provided by an exemplary embodiment is shown;

[0060] Figure 10 It is a schematic diagram of the structure of a vehicle provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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 distribution, so that the vehicle can maintain stable driving. However, under some special working conditions, the vehicle will still have an imbalance problem. When the vehicle is unbalanced, the chassis traction control system (TSC) is generally used to adjust the vehicle's torque to restore the vehicle to a balanced state.

[0065] However, the above process of controlling the vehicle balance through TSC is adjusted only after the vehicle becomes unbalanced, which causes imbalance problems during vehicle driving and affects the driving experience.

[0066] In order to reduce the problem of vehicle imbalance, the present application provides a torque control method, device, vehicle and storage medium. The actual wheel speed difference between the average wheel speed of the front axle and the average wheel speed of the rear axle is determined by the left and right wheel speeds of the front axle and the left and right wheel speeds of the rear axle of the vehicle, and the theoretical wheel speed difference of the vehicle is determined by the left and right wheel speeds of the rear axle and the vehicle speed. Based on the actual wheel speed difference and the theoretical wheel speed difference of the vehicle, it is determined whether to adjust the torque of the vehicle, thereby controlling the torque of the vehicle so that the vehicle can maintain balance. In this way, the torque is controlled by the front and rear axle wheel speed difference so that the vehicle can maintain balance during driving, thereby minimizing the occurrence of vehicle imbalance, ensuring stable driving of the vehicle, and optimizing the driving experience.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] S201, the vehicle determines an actual wheel speed difference of the vehicle according to the left and right wheel speeds of the front axle and the left and right wheel speeds of the rear axle of the vehicle, where the actual wheel speed difference is the difference between the average wheel speed of the front axle and the average wheel speed of the rear axle of the vehicle.

[0071] The vehicle can obtain the left and right wheel speeds of the front axle and the left and right wheel speeds of the rear axle through the driving parameter perception system. The vehicle determines the average of the left and right wheel speeds of the front axle to obtain the average wheel speed of the front axle, and determines the average of the left and right wheel speeds of the rear axle to obtain the average wheel speed of the rear axle.

[0072] After the vehicle determines the average wheel speed of the front axle and the average wheel speed of the rear axle, the difference between the average wheel speed of the front axle and the average wheel speed of the rear axle is determined as the actual wheel speed difference of the vehicle.

[0073] S202, the vehicle determines a theoretical wheel speed difference of the vehicle according to the left and right wheel speeds of the rear axle of the vehicle and the vehicle speed.

[0074] The theoretical wheel speed difference is the maximum wheel speed difference under the turning radius corresponding to the left and right wheel speeds of the rear axle when the vehicle is driving stably at the current speed. Accordingly, the vehicle estimates the turning radius of the vehicle according to the left and right wheel speeds of the rear axle, and determines the theoretical wheel speed difference of the vehicle according to the turning radius and the vehicle speed. This process can be implemented by the following steps S2021-S2022, including:

[0075] S2021, the vehicle determines a theoretical turning radius of the vehicle based on the left and right wheel speeds of the rear axle.

[0076] See also Figure 3 During 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, so that 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.

[0077] 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.

[0078] Formula 1:

[0079] According to the deformation of formula 1, the theoretical turning radius can be expressed by formula 2.

[0080] Formula 2:

[0081] 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.

[0082] 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.

[0083] S2022: The vehicle determines the theoretical turning radius and the theoretical wheel speed difference corresponding to the vehicle speed from the corresponding relationship among the turning radius, the vehicle speed and the wheel speed difference.

[0084] The vehicle wins the bid to store the corresponding relationship between the turning radius, the vehicle speed and the wheel speed difference. In this step, the vehicle reads the stored corresponding relationship between the turning radius, the vehicle speed and the wheel speed difference, and determines the theoretical wheel speed difference corresponding to the turning radius and the vehicle speed from the corresponding relationship between the turning radius, the vehicle speed and the wheel speed difference according to the turning radius and the vehicle speed.

[0085] Prior to this step, the vehicle calibrates the corresponding relationship between the turning radius, vehicle speed and wheel speed difference of the vehicle based on the standard of stable driving. That is, for different turning radius and vehicle speed, the vehicle calibrates the maximum wheel speed difference at which the vehicle can stably drive under the turning radius and vehicle speed, and obtains the corresponding relationship between the turning radius, vehicle speed and wheel speed difference.

[0086] In this implementation, the vehicle determines the turning radius in the current state through the left and right wheel speeds of the rear axle, and then determines the theoretical wheel speed difference of the vehicle in the stable state corresponding to the turning radius and the vehicle speed based on the turning radius, so as to judge whether the current actual wheel speed difference of the vehicle supports the stable driving of the vehicle based on the theoretical wheel speed difference, so that the vehicle can judge the stable state of the vehicle in advance, and then adjust the torque of the vehicle in time to keep the vehicle stable.

[0087] S203: The vehicle determines the difference between the actual wheel speed difference and the theoretical wheel speed difference to obtain a difference control parameter.

[0088] The difference control parameter represents the difference between the actual wheel speed difference and the theoretical wheel speed difference. In the embodiment of the present application, the difference between the actual wheel speed difference and the theoretical wheel speed difference is represented by the difference between the actual wheel speed difference and the theoretical wheel speed difference.

[0089] S204: The vehicle controls the torque of the vehicle based on the difference control parameter.

[0090] The vehicle determines the difference between the actual wheel speed difference and the theoretical wheel speed difference. When the difference between the actual wheel speed difference and the theoretical wheel speed difference is large, the vehicle determines that the wheel speed difference of the vehicle needs to be adjusted by adjusting the torque; when the difference between the actual wheel speed difference and the theoretical wheel speed difference is small, the vehicle determines that the current torque can be maintained.

[0091] Accordingly, in some embodiments, the vehicle compares the difference control parameter with a preset parameter. If the difference control parameter is less than the preset parameter, the vehicle is controlled to maintain the current torque distribution; if the difference control parameter is not less than the preset parameter, the torque of the vehicle is controlled based on the difference control parameter.

[0092] When the difference control parameter is less than the preset parameter, the vehicle determines that the difference between the actual wheel speed difference of the vehicle and the theoretical wheel speed difference during stable driving is small, so there is no need to adjust the torque distribution of the vehicle. When the difference control parameter is not less than the preset parameter, the vehicle determines that the difference between the actual wheel speed difference of the vehicle and the theoretical wheel speed difference during stable driving is large, and it is necessary to adjust the torque of the vehicle to adjust the wheel speed difference, thereby preventing the vehicle from being unbalanced, allowing the vehicle to maintain balance and optimizing the driving experience.

[0093] The preset parameter can be set as needed, and in the embodiment of the present application, the preset parameter is not specifically limited. For example, the preset parameter can be 0.1, 0.15 or 0.2, etc.

[0094] In some embodiments, when the vehicle adjusts the torque of the vehicle based on the difference control parameter, the torque adjustment parameter corresponding to the difference control parameter can be obtained from the corresponding parameter table according to the difference control parameter, and the torque of the vehicle is adjusted based on the torque adjustment parameter.

[0095] In an embodiment of the present application, the actual wheel speed difference between the average wheel speed of the front axle and the average wheel speed of the rear axle is determined by the left and right wheel speeds of the front axle and the left and right wheel speeds of the rear axle, and the theoretical wheel speed difference of the vehicle is determined by the left and right wheel speeds of the rear axle and the vehicle speed. Based on the actual wheel speed difference and the theoretical wheel speed difference of the vehicle, it is determined whether to adjust the torque of the vehicle, thereby controlling the torque of the vehicle so that the vehicle can maintain balance. In this way, the torque is controlled by the front and rear axle wheel speed difference so that the vehicle can maintain balance during driving, thereby minimizing the occurrence of vehicle imbalance, ensuring stable driving of the vehicle, and optimizing the driving experience.

[0096] In order to make the vehicle's torque adjustment more precise and the vehicle's driving more stable, the vehicle can also adjust the vehicle's torque based on parameters such as the vehicle's speed and accelerator pedal opening. Figure 4 , which shows a flowchart of a torque control method combining a difference control parameter, a vehicle speed and an accelerator pedal opening provided by an exemplary embodiment. As an example and not a limitation, the method is applied to a vehicle, the vehicle is equipped with the above torque control system.

[0097] S401, the vehicle determines an actual wheel speed difference of the vehicle according to the left and right wheel speeds of the front axle and the left and right wheel speeds of the rear axle of the vehicle, where the actual wheel speed difference is the difference between the average wheel speed of the front axle and the average wheel speed of the rear axle of the vehicle.

[0098] The principle of this step is the same as that of step S201 and will not be repeated here.

[0099] S402, the vehicle determines a theoretical wheel speed difference of the vehicle according to the left and right wheel speeds of the rear axle of the vehicle and the vehicle speed.

[0100] The principle of this step is the same as that of step S202, which will not be elaborated here.

[0101] S403. The vehicle obtains the vehicle speed and the throttle pedal opening of the vehicle.

[0102] The vehicle can obtain the vehicle speed through the vehicle speed sensor in the driving parameter perception system, and obtain the throttle pedal opening through the throttle pedal opening sensor in the driving parameter perception system. In the embodiments of the present application, no specific limitation is made thereto.

[0103] S404. The vehicle controls the torque of the vehicle based on the difference control parameter, the vehicle speed, and the throttle pedal opening.

[0104] The vehicle determines the torque of the vehicle in combination with the difference control parameter, the vehicle speed, and the throttle pedal opening. Accordingly, when the difference control parameter, the vehicle speed, and the throttle pedal opening of the vehicle meet the preset conditions, the torque of the vehicle is controlled. Otherwise, the torque of the vehicle remains unchanged.

[0105] Among them, the preset conditions can be set as needed. In some embodiments, if the difference control parameter is not less than the preset parameter, the vehicle speed is not less than the preset vehicle speed, and the throttle pedal opening is not less than the preset opening, the vehicle controls the vehicle to adjust the torque distribution according to the difference control parameter, the vehicle speed, and the throttle pedal opening.

[0106] Among them, the preset parameter, the preset vehicle speed, and the preset opening can be set as needed. In the embodiments of the present application, no specific limitation is made to the preset parameter, the preset vehicle speed, and the preset opening. For example, the preset parameter can be 0.1, 0.15, or 0.2, etc. The preset vehicle speed can be 3 km / h, 3.5 km / h, or 2.5 km / h, etc. The preset opening can be 2%, 2.5%, or 3%, etc.

[0107] In this implementation manner, when the difference control parameter is less than the preset parameter, the vehicle determines that the difference between the actual wheel speed difference of the vehicle and the theoretical wheel speed difference during stable driving is small. Therefore, there is no need to adjust the torque distribution of the vehicle. When the vehicle speed is less than the preset vehicle speed or the throttle pedal opening is less than the preset opening, the vehicle is driving smoothly and there is no need to adjust the torque distribution of the vehicle. When the difference control parameter is not less than the preset parameter, the vehicle speed is not less than the preset vehicle speed, and the throttle pedal opening is not less than the preset opening, the vehicle determines that the difference between the actual wheel speed difference of the vehicle and the theoretical wheel speed difference during stable driving is large, and the vehicle is driving at a relatively high speed, and it is easy to have an unstable situation. It is necessary to adjust the torque of the vehicle to adjust the wheel speed difference, so as to prevent the vehicle from losing balance, enable the vehicle to maintain balance, and optimize the driving experience.

[0108] When the difference control parameter, vehicle speed and accelerator pedal opening meet the above preset conditions, the vehicle obtains relevant parameters for adjusting the torque according to the difference control parameter, vehicle speed and accelerator pedal opening, and controls the torque of the vehicle based on the relevant parameters. This process can be implemented by the following steps S4041-S4045, including:

[0109] S4041: The vehicle determines the theoretical required torque corresponding to the difference control parameter from the corresponding relationship between the difference control parameter and the theoretical required torque based on the difference control parameter.

[0110] The theoretical required torque refers to the required torque of the vehicle when the vehicle can run stably under the current difference control parameter. The correspondence between the difference control parameter and the theoretical required torque 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 difference control parameter and the theoretical required torque, and obtains the theoretical required torque corresponding to the difference control parameter from the correspondence.

[0111] The corresponding relationship between the difference control parameter and the theoretical required torque can be stored in the vehicle in any form. Figure 5 , which shows a schematic diagram of the corresponding relationship between a difference control parameter and a theoretical required torque, wherein the horizontal axis represents the difference control parameter and the vertical axis represents the theoretical required torque.

[0112] S4042: The vehicle determines a first allocation coefficient corresponding to the vehicle speed from a first corresponding relationship between the vehicle speed and the allocation coefficient.

[0113] The first distribution coefficient refers to the distribution coefficient of the rear axle torque of the vehicle when the vehicle can stably travel at the current vehicle speed. The first correspondence between the vehicle speed and the distribution coefficient can be calibrated according to the vehicle driving stability before the vehicle leaves the factory. Accordingly, the vehicle obtains the stored first correspondence between the vehicle speed and the distribution coefficient, and obtains the first distribution coefficient corresponding to the vehicle speed from the first correspondence.

[0114] The first correspondence between the vehicle speed and the allocation coefficient may be stored in the vehicle in any form. Figure 6 , which shows a schematic diagram of a first corresponding relationship between vehicle speed and distribution coefficient, wherein the horizontal axis represents vehicle speed and the vertical axis represents distribution coefficient.

[0115] S4043: The vehicle determines a second distribution coefficient corresponding to the accelerator pedal opening from a second corresponding relationship between the accelerator pedal opening and the distribution coefficient.

[0116] The second distribution coefficient refers to the distribution coefficient of the rear axle torque of the vehicle when the vehicle can stably drive at the current accelerator pedal opening. The second correspondence between the accelerator pedal opening and the distribution coefficient can be calibrated according to the stability of the vehicle before the vehicle leaves the factory. Accordingly, the vehicle obtains the stored second correspondence between the accelerator pedal opening and the distribution coefficient, and obtains the second distribution coefficient corresponding to the accelerator pedal opening from the second correspondence.

[0117] The second correspondence between the accelerator pedal opening and the distribution coefficient can be stored in the vehicle in any form. Figure 7 , which shows a schematic diagram of a second corresponding relationship between the accelerator pedal opening and the distribution coefficient, wherein the horizontal axis represents the accelerator pedal opening, and the vertical axis represents the distribution coefficient.

[0118] S4044: The vehicle determines the product of the theoretical required torque, the first distribution coefficient and the second distribution coefficient as the rear axle theoretical torque.

[0119] The vehicle obtains a rear axle theoretical torque of the vehicle by multiplying the theoretical required torque, the first distribution coefficient and the second distribution coefficient.

[0120] S4045, the vehicle controls the vehicle to adjust the rear axle torque from the current torque to the rear axle theoretical torque.

[0121] In some embodiments, the current torque of the rear axle is adjusted until the output torque of the rear axle reaches the theoretical torque of the rear axle. During the adjustment process, the vehicle filters the output torque of the rear axle to make the adjustment process of the rear axle torque smooth.

[0122] In addition, 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 theoretical torque of the rear axle as the vehicle's theoretical front axle torque, and adjust the vehicle's front axle torque based on the theoretical front axle torque.

[0123] One point that needs to be explained is that if the difference control parameter is less than the preset parameter, or the vehicle speed is less than the preset vehicle speed, or the accelerator pedal opening is less than the preset opening, the vehicle is controlled to maintain the current torque distribution.

[0124] In this implementation, the first distribution coefficient and the second distribution coefficient corresponding to the current driving condition of the vehicle are determined by the preset first corresponding relationship and the second corresponding relationship. This improves the efficiency of determining the first distribution coefficient and the second distribution coefficient, thereby improving the efficiency of vehicle torque distribution, ensuring that the vehicle can adjust the torque in time, and further ensuring that the vehicle can drive smoothly.

[0125] For the convenience of explanation, the overall process of the application embodiment is described below.Figure 8 , which shows a flowchart of controlling torque in combination with vehicle speed and accelerator pedal opening provided by an exemplary embodiment. The vehicle obtains the left front wheel speed, the right front wheel speed, the left rear wheel speed, the right rear wheel speed, the vehicle speed and the accelerator pedal opening respectively, and then determines the average wheel speed of the front axle according to the left front wheel speed and the right front wheel speed, and determines the average wheel speed of the rear axle and the turning radius according to the left rear wheel speed and the right rear wheel speed; determines the actual wheel speed difference of the vehicle according to the average wheel speed of the front axle and the average wheel speed of the rear axle, determines the theoretical wheel speed difference of the vehicle according to the turning radius and the differential speed, determines the difference control parameter based on the difference between the theoretical wheel speed difference and the actual wheel speed difference, and determines the torque of the vehicle based on the difference control parameter, the vehicle speed and the accelerator pedal opening.

[0126] In an embodiment of the present application, the actual wheel speed difference between the average wheel speed of the front axle and the average wheel speed of the rear axle is determined by the left and right wheel speeds of the front axle and the left and right wheel speeds of the rear axle, and the theoretical wheel speed difference of the vehicle is determined by the left and right wheel speeds of the rear axle and the vehicle speed. Based on the actual wheel speed difference and the theoretical wheel speed difference of the vehicle, it is determined whether to adjust the torque of the vehicle, thereby controlling the torque of the vehicle so that the vehicle can maintain balance. In this way, the torque is controlled by the front and rear axle wheel speed difference so that the vehicle can maintain balance during driving, thereby minimizing the occurrence of vehicle imbalance, ensuring stable driving of the vehicle, and optimizing the driving experience.

[0127] Furthermore, the torque of the vehicle is controlled in combination with the difference control parameter, the vehicle speed and the accelerator pedal opening, so that the torque of the vehicle can be limited by multiple conditions, making the torque more accurate and thus making the vehicle run more smoothly.

[0128] 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.

[0129] See also Figure 9 , 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 Figure 9 , the torque control device comprises:

[0130] A first determining unit 901 is used to determine an actual wheel speed difference of the vehicle according to the left and right wheel speeds of the front axle and the left and right wheel speeds of the rear axle of the vehicle, where the actual wheel speed difference is the difference between the average wheel speed of the front axle and the average wheel speed of the rear axle of the vehicle;

[0131] A second determining unit 902 is used to determine a theoretical wheel speed difference of the vehicle according to the left and right wheel speeds of the rear axle of the vehicle and the vehicle speed;

[0132] The third determining unit 903 is used to determine the difference between the actual wheel speed difference and the theoretical wheel speed difference to obtain a difference control parameter;

[0133] The control unit 904 is used to control the torque of the vehicle based on the difference control parameter.

[0134] In some embodiments, the control unit 904 is used to control the vehicle to maintain the current torque distribution if the difference control parameter is less than a preset parameter; if the difference control parameter is not less than the preset parameter, control the torque of the vehicle based on the difference control parameter.

[0135] In some embodiments, the control unit 904 is used to obtain the vehicle speed and accelerator pedal opening of the vehicle; and control the torque of the vehicle based on the difference control parameter, the vehicle speed and the accelerator pedal opening.

[0136] In some embodiments, the control unit 904 is used to control the vehicle to adjust the torque distribution according to the difference control parameter, the vehicle speed and the accelerator pedal opening if the difference control parameter is not less than the preset parameter, the vehicle speed is not less than the preset speed, and the accelerator pedal opening is not less than the preset opening.

[0137] In some embodiments, the control unit 904 is used to determine the theoretical required torque corresponding to the difference control parameter from the correspondence between the difference control parameter and the theoretical required torque based on the difference control parameter; determine the first distribution coefficient corresponding to the vehicle speed from a first correspondence between the vehicle speed and the distribution coefficient; determine the second distribution coefficient corresponding to the accelerator pedal opening from a second correspondence between the accelerator pedal opening and the distribution coefficient; determine the product of the theoretical required torque, the first distribution coefficient and the second distribution coefficient as the rear axle theoretical torque; and control the vehicle to adjust the rear axle torque from the current torque to the rear axle theoretical torque.

[0138] In some embodiments, the second determination unit 902 is used to determine the theoretical turning radius of the vehicle according to the left and right wheel speeds of the rear axle; and to determine the theoretical turning radius and the theoretical wheel speed difference corresponding to the vehicle speed from the corresponding relationship among the turning radius, the vehicle speed and the wheel speed difference.

[0139] In some embodiments, the second determination unit 902 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.

[0140] In an embodiment of the present application, the actual wheel speed difference between the average wheel speed of the front axle and the average wheel speed of the rear axle is determined by the left and right wheel speeds of the front axle and the left and right wheel speeds of the rear axle, and the theoretical wheel speed difference of the vehicle is determined by the left and right wheel speeds of the rear axle and the vehicle speed. Based on the actual wheel speed difference and the theoretical wheel speed difference of the vehicle, it is determined whether to adjust the torque of the vehicle, thereby controlling the torque of the vehicle so that the vehicle can maintain balance. In this way, the torque is controlled by the front and rear axle wheel speed difference so that the vehicle can maintain balance during driving, thereby minimizing the occurrence of vehicle imbalance, ensuring stable driving of the vehicle, and optimizing the driving experience.

[0141] Figure 10 FIG. 1 is a schematic diagram of a vehicle provided by an exemplary embodiment of the present application. Figure 10 As shown, the vehicle 10 of this embodiment includes: a processor 100, a memory 101, and a computer program 102 stored in the memory 101 and executable on the processor 100, such as a torque control program. When the processor 100 executes the computer program 102, the steps in the above-mentioned various torque control method embodiments are implemented, such as Figure 2 Alternatively, when the processor 100 executes the computer program 102, the functions of each unit in the above-mentioned device embodiments are realized, for example Figure 9 The functions of the first determination unit 901 , the second determination unit 902 , the third determination unit 903 and the control unit 904 are shown.

[0142] Exemplarily, the computer program 102 may be divided into one or more units, which are stored in the memory 101 and executed by the processor 100 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 102 in the vehicle 10. For example, the computer program 102 may be divided into a first determination unit 901, a second determination unit 902, a third determination unit 903 and a control unit 904, and the specific functions of each module are as follows:

[0143] A first determining unit 901 is used to determine an actual wheel speed difference of the vehicle according to the left and right wheel speeds of the front axle and the left and right wheel speeds of the rear axle of the vehicle, where the actual wheel speed difference is the difference between the average wheel speed of the front axle and the average wheel speed of the rear axle of the vehicle;

[0144] A second determining unit 902 is used to determine a theoretical wheel speed difference of the vehicle according to the left and right wheel speeds of the rear axle of the vehicle and the vehicle speed;

[0145] The third determining unit 903 is used to determine the difference between the actual wheel speed difference and the theoretical wheel speed difference to obtain a difference control parameter;

[0146] The control unit 904 is used to control the torque of the vehicle based on the difference control parameter.

[0147] The vehicle 10 may be any vehicle having a control function. The vehicle 10 may include, but is not limited to, a processor 100 and a memory 101. Those skilled in the art will appreciate that Figure 10 This is only an example of the vehicle 10 and does not constitute a limitation of the vehicle 10. The vehicle 10 may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the vehicle 10 may also include input and output devices, network access devices, buses, etc.

[0148] The processor 100 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.

[0149] The memory 101 may be an internal storage unit of the vehicle 10, such as a hard disk or memory of the vehicle 10. The memory 101 may also be an external storage device of the vehicle 10, 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 10. Further, the memory 101 may also include both an internal storage unit of the vehicle 10 and an external storage device. The memory 101 is used to store the computer program and other programs and data required by the terminal device. The memory 101 may also be used to temporarily store data that has been output or is to be output.

[0150] 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.

[0151] 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.

[0152] 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.

[0153] 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.

[0154] 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.

[0155] 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.

[0156] 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.

[0157] 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.

[0158] 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.

[0159] 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 the actual wheel speed difference of the vehicle according to the left and right wheel speeds of the front axle and the left and right wheel speeds of the rear axle of the vehicle, wherein the actual wheel speed difference is the difference between the average wheel speed of the front axle and the average wheel speed of the rear axle of the vehicle; Determining a theoretical wheel speed difference of the vehicle according to the left and right wheel speeds of the rear axle of the vehicle and the vehicle speed; Determine the difference between the actual wheel speed difference and the theoretical wheel speed difference to obtain a difference control parameter; Obtaining the vehicle speed and accelerator pedal opening of the vehicle; If the difference control parameter is not less than the preset parameter, the vehicle speed is not less than the preset speed, and the accelerator pedal opening is not less than the preset opening, the vehicle is controlled to adjust the torque distribution according to the difference control parameter, the vehicle speed and the accelerator pedal opening.

2. The method according to claim 1, characterized in that The method further comprises: If the difference control parameter is less than a preset parameter, controlling the vehicle to maintain the current torque distribution; If the difference control parameter is not less than the preset parameter, the torque of the vehicle is controlled based on the difference control parameter.

3. The method according to claim 1, characterized in that The step of controlling the vehicle to adjust torque distribution according to the difference control parameter, the vehicle speed and the accelerator pedal opening includes: According to the difference control parameter, from the corresponding relationship between the difference control parameter and the theoretical required torque, determining the theoretical required torque corresponding to the difference control parameter; Determining a first allocation coefficient corresponding to the vehicle speed from a first corresponding relationship between the vehicle speed and the allocation coefficient; Determining a second distribution coefficient corresponding to the accelerator pedal opening from a second corresponding relationship between the accelerator pedal opening and the distribution coefficient; determining a product of the theoretical required torque, the first distribution coefficient and the second distribution coefficient as a rear axle theoretical torque; The vehicle is controlled to adjust the rear axle torque from the current torque to the rear axle theoretical torque.

4. The method according to claim 1, characterized in that Determining the theoretical wheel speed difference of the vehicle according to the left and right wheel speeds of the rear axle of the vehicle and the vehicle speed includes: Determining a theoretical turning radius of the vehicle according to the left and right wheel speeds of the rear axle; The theoretical turning radius and the theoretical wheel speed difference corresponding to the vehicle speed are determined from the corresponding relationship among the turning radius, the vehicle speed and the wheel speed difference.

5. The method according to claim 4, characterized in that Determining the theoretical turning radius of the vehicle according to the left and right wheel speeds of the rear axle 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. A torque control device, characterized in that: The device comprises: A first determining unit, configured to determine an actual wheel speed difference of the vehicle according to the left and right wheel speeds of the front axle and the left and right wheel speeds of the rear axle of the vehicle, wherein the actual wheel speed difference is a difference between an average wheel speed of the front axle and an average wheel speed of the rear axle of the vehicle; A second determining unit, configured to determine a theoretical wheel speed difference of the vehicle according to left and right wheel speeds of the rear axle of the vehicle and the vehicle speed; a third determining unit, configured to determine a difference between the actual wheel speed difference and the theoretical wheel speed difference, and obtain a difference control parameter; A control unit is used to obtain the vehicle speed and accelerator pedal opening of the vehicle; if the difference control parameter is not less than a preset parameter, and the vehicle speed is not less than a preset speed, and the accelerator pedal opening is not less than a preset opening, the vehicle is controlled to adjust the torque distribution according to the difference control parameter, the vehicle speed and the accelerator pedal opening.

7. 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 5.

8. 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 5 is implemented.

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