Vehicle and driving anti-skid torque distribution method and device thereof

Abstract

The invention discloses a vehicle and a driving anti-skid torque distribution method and device thereof. The method comprises the steps that the activation state of a front axle TCS function and the activation state of a rear axle TCS function of the vehicle are obtained; determining an inter-axle torque distribution coefficient according to the activation state of the front axle TCS function and the activation state of the rear axle TCS function; determining a front axle distribution demand torque and a rear axle distribution demand torque based on the inter-axle torque distribution coefficient; and determining a front axle target torque and a rear axle target torque according to the activation state of the front axle TCS function, the activation state of the rear axle TCS function, the front axle distribution torque or the front axle request torque, and the rear axle distribution torque or the rear axle request torque. According to the distribution method, the total driving torque is not reduced to the maximum extent in the activation process of the TCS driving anti-skid function, the total driving torque is close to the torque required by a driver as much as possible, and power loss is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular to a driving anti-slip torque distribution method for a vehicle, a vehicle and a driving anti-slip torque distribution device for a vehicle. Background Art

[0002] At present, for pure electric four-wheel drive vehicles or dual-motor hybrid four-wheel drive vehicles, after the TCS (Traction Control System) drive anti-skid function is activated, the usual control method is that the vehicle controller directly executes the requested torque after TCS torque reduction for the slipping shaft, while the non-slipping shaft still maintains the original torque. This will inevitably result in the actual total driving torque being smaller than the actual total driving torque when not slipping, causing partial power loss and failing to meet the driver's needs to the maximum extent possible. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems in the related art to a certain extent. To this end, the first purpose of the present invention is to propose a method for distributing driving anti-skid torque of a vehicle, by obtaining the activation state of the front axle TCS function and the activation state of the rear axle TCS function of the vehicle; determining the inter-axle torque distribution coefficient according to the activation state of the front axle TCS function and the activation state of the rear axle TCS function; determining the front axle distribution required torque and the rear axle distribution required torque based on the inter-axle torque distribution coefficient; determining the front axle target torque and the rear axle target torque according to the activation state of the front axle TCS function, the activation state of the rear axle TCS function, the front axle distribution torque or the front axle request torque, the rear axle distribution torque or the rear axle request torque, so as to achieve the maximum degree of non-reduction of the total driving torque during the activation of the TCS driving anti-skid function, so as to make the total driving torque as close as possible to the driver's required torque and reduce power loss.

[0004] A second object of the present invention is to provide a vehicle.

[0005] A third object of the present invention is to provide a driving anti-slip torque distribution device for a vehicle.

[0006] To achieve the above-mentioned objectives, an embodiment of the first aspect of the present invention proposes a method for distributing driving anti-skid torque of a vehicle, the method comprising: obtaining the activation status of the front axle TCS function and the activation status of the rear axle TCS function of the vehicle; determining the inter-axle torque distribution coefficient according to the activation status of the front axle TCS function and the activation status of the rear axle TCS function; determining the front axle distribution required torque and the rear axle distribution required torque based on the inter-axle torque distribution coefficient; determining the front axle target torque and the rear axle target torque according to the activation status of the front axle TCS function, the activation status of the rear axle TCS function, the front axle distribution torque or the front axle request torque, and the rear axle distribution torque or the rear axle request torque.

[0007] According to the driving anti-skid torque distribution method of the vehicle of the embodiment of the present invention, the activation state of the front axle TCS function and the activation state of the rear axle TCS function of the vehicle are obtained; the inter-axle torque distribution coefficient is determined according to the activation state of the front axle TCS function and the activation state of the rear axle TCS function; the front axle distribution required torque and the rear axle distribution required torque are determined based on the inter-axle torque distribution coefficient; the front axle target torque and the rear axle target torque are determined according to the activation state of the front axle TCS function, the activation state of the rear axle TCS function, the front axle distribution torque or the front axle request torque, the rear axle distribution torque or the rear axle request torque. Therefore, the method can achieve the maximum degree of non-reduction of the total driving torque during the activation of the TCS driving anti-skid function, so that the total driving torque is as close as possible to the driver's required torque, reducing power loss.

[0008] In addition, the vehicle driving anti-slip torque distribution method according to the above embodiment of the present invention may also have the following additional technical features:

[0009] According to one embodiment of the present invention, the inter-axle torque distribution coefficient is determined according to the activation state of the front axle TCS function and the activation state of the rear axle TCS function, including: when the front axle TCS function and the rear axle TCS function are both in an inactive state, the inter-axle torque distribution coefficient is determined to be the original inter-axle torque distribution coefficient; wherein the original inter-axle torque distribution coefficient is determined according to the economy and power of the whole vehicle; when the rear axle TCS function is in an activated state, the first inter-axle torque distribution coefficient is determined according to the rear axle TSC requested torque, the rear axle torque capacity lower limit, the rear axle torque capacity upper limit and the total required torque of the vehicle; when the front axle TSC function is in an activated state, the second inter-axle torque distribution coefficient is determined according to the total required torque, the front axle TSC requested torque, the rear axle torque capacity lower limit and the rear axle torque capacity upper limit.

[0010] According to one embodiment of the present invention, it is characterized in that the first inter-axle torque distribution coefficient is determined based on the rear axle TSC requested torque, the rear axle torque capacity lower limit, the rear axle torque capacity upper limit and the total required torque, including: when the rear axle TSC requested torque is greater than the rear axle torque capacity lower limit, the ratio of the minimum value of the rear axle TSC requested torque and the rear axle torque capacity upper limit to the total required torque is used as the first inter-axle torque distribution coefficient; when the rear axle TSC requested torque is less than the rear axle torque capacity lower limit, the ratio of the rear axle torque capacity lower limit to the total required torque is used as the first inter-axle torque distribution coefficient.

[0011] According to one embodiment of the present invention, the second inter-axle torque distribution coefficient is determined based on the total required torque, the front axle TSC requested torque, the rear axle torque capacity lower limit, and the rear axle torque capacity upper limit, including: determining the torque difference between the total required torque and the front axle TSC requested torque; when the torque difference is greater than the rear axle torque capacity lower limit, using the ratio of the minimum value of the torque difference and the rear axle torque capacity upper limit to the total required torque as the second inter-axle torque distribution coefficient; when the torque difference is less than the rear axle torque capacity lower limit, using the ratio of the rear axle torque capacity lower limit to the total required torque as the second inter-axle torque distribution coefficient.

[0012] According to one embodiment of the present invention, the front axle distribution required torque and the rear axle distribution required torque based on the inter-axle torque distribution coefficient are determined, including: when the inter-axle torque distribution coefficient is the original inter-axle torque distribution coefficient, the product of the total required torque and the original inter-axle torque distribution coefficient is used as the first distribution torque, and the difference between the total required torque and the first distribution torque is used as the second distribution torque; when the first distribution torque is greater than the lower limit of the rear axle torque capacity, the minimum value between the first distribution torque and the upper limit of the rear axle torque capacity is used as the rear axle distribution required torque; when the first distribution torque is less than the lower limit of the rear axle torque capacity, the lower limit of the rear axle torque capacity is used as the rear axle distribution required torque; when the second distribution torque is greater than the lower limit of the front axle torque capacity, the minimum value between the second distribution torque and the upper limit of the front axle torque capacity is used as the front axle distribution required torque; when the second distribution torque is less than the lower limit of the front axle torque capacity, the lower limit of the front axle torque capacity is used as the front axle distribution required torque.

[0013] According to one embodiment of the present invention, the front axle distribution required torque and the rear axle distribution required torque are determined based on the inter-axle torque distribution coefficient, including: when the inter-axle torque distribution coefficient is the first inter-axle torque distribution coefficient, the product of the total required torque and the first inter-axle torque distribution coefficient is used as the third distribution torque, and the difference between the total required torque and the third distribution torque is used as the fourth distribution torque; when the fourth distribution torque is greater than the lower limit of the front axle torque capacity, the minimum value between the fourth distribution torque and the upper limit of the front axle torque capacity is used as the front axle distribution required torque; when the fourth distribution torque is less than the lower limit of the front axle torque capacity, the lower limit of the front axle torque capacity is used as the front axle distribution required torque.

[0014] According to one embodiment of the present invention, determining the rear axle distribution required torque based on the inter-axle torque distribution coefficient includes: when the inter-axle torque distribution coefficient is the second inter-axle torque distribution coefficient, taking the product of the total required torque and the second inter-axle torque distribution coefficient as the fifth distribution torque; when the fifth distribution torque is greater than the lower limit of the rear axle torque capacity, taking the minimum value between the fifth distribution torque and the upper limit of the rear axle torque capacity as the rear axle distribution required torque; when the fifth distribution torque is less than the lower limit of the rear axle torque capacity, taking the lower limit of the rear axle torque capacity as the rear axle distribution required torque.

[0015] According to one embodiment of the present invention, the front axle target torque is determined according to the activation state of the front axle TCS function, the activation state of the rear axle TCS function, the front axle allocated torque or the front axle requested torque, the rear axle allocated torque or the rear axle requested torque, including: when the front axle TCS function and the rear axle TCS function are both in an inactive state, the front axle allocated torque is used as the front axle target torque, and the rear axle allocated torque is used as the rear axle target torque; when the front axle TCS function and the rear axle TCS function are both in an activated state, the front axle requested torque is used as the front axle target torque, and the rear axle requested torque is used as the rear axle target torque; when the front axle TCS function is in an activated state and the rear axle TCS function is in an inactivated state, the front axle requested torque is used as the front axle target torque, and the rear axle allocated torque is used as the rear axle target torque; when the front axle TCS function is in an inactivated state and the rear axle TCS function is in an activated state, the front axle allocated torque is used as the front axle target torque, and the rear axle requested torque is used as the rear axle target torque.

[0016] To achieve the above-mentioned purpose, a vehicle is proposed in an embodiment of the second aspect of the present invention, comprising a memory, a processor and a program stored in the memory and executable on the processor, wherein when the processor executes the program, the above-mentioned driving anti-slip torque distribution method of the vehicle is implemented.

[0017] According to the vehicle of the embodiment of the present invention, by executing the above-mentioned vehicle driving anti-skid torque distribution method, it is possible to ensure that the total driving torque is not reduced to the greatest extent during the activation of the TCS driving anti-skid function, so that the total driving torque is as close as possible to the torque required by the driver, thereby reducing power loss.

[0018] To achieve the above-mentioned purpose, an embodiment of the third aspect of the present invention proposes a driving anti-skid torque distribution device for a vehicle, and the device includes: an acquisition module, used to acquire the activation status of the front axle TCS function and the activation status of the rear axle TCS function of the vehicle; a first determination module, used to determine the inter-axle torque distribution coefficient according to the activation status of the front axle TCS function and the activation status of the rear axle TCS function; a second determination module, used to determine the front axle distribution required torque and the rear axle distribution required torque based on the inter-axle torque distribution coefficient; a third determination module, used to determine the front axle target torque and the rear axle target torque according to the activation status of the front axle TCS function, the activation status of the rear axle TCS function, the front axle distribution torque or the front axle request torque, and the rear axle distribution torque or the rear axle request torque.

[0019] According to the driving anti-skid torque distribution device of the vehicle of the embodiment of the present invention, the acquisition module is used to acquire the activation state of the front axle TCS function and the activation state of the rear axle TCS function of the vehicle; the first determination module is used to determine the inter-axle torque distribution coefficient according to the activation state of the front axle TCS function and the activation state of the rear axle TCS function; the second determination module is used to determine the front axle distribution demand torque and the rear axle distribution demand torque based on the inter-axle torque distribution coefficient; the third determination module is used to determine the front axle target torque and the rear axle target torque according to the activation state of the front axle TCS function, the activation state of the rear axle TCS function, the front axle distribution torque or the front axle request torque, the rear axle distribution torque or the rear axle request torque. Therefore, the device can achieve the maximum degree of non-reduction of the total driving torque during the activation of the TCS driving anti-skid function, so that the total driving torque is as close as possible to the driver's demand torque, reducing power loss.

[0020] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A flowchart of a driving anti-slip torque distribution method for a vehicle according to an embodiment of the present invention;

[0022] Figure 2 Schematic diagram of the calculation process of the inter-axle torque distribution coefficient according to an embodiment of the present invention;

[0023] Figure 3 A schematic diagram of a driving anti-slip torque distribution calculation process according to an embodiment of the present invention;

[0024] Figure 4 A flowchart of a driving anti-slip torque distribution method for a vehicle according to a specific example of the present invention;

[0025] Figure 5 is a block diagram of a vehicle according to an embodiment of the present invention;

[0026] Figure 6 It is a block diagram of a driving anti-slip torque distribution device of a vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0027] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0028] The following describes a method for distributing a driving anti-slip torque of a vehicle, a vehicle, and a driving anti-slip torque distribution device of the vehicle according to embodiments of the present invention with reference to the accompanying drawings.

[0029] Figure 1 The figure is a flow chart of a driving anti-slip torque distribution method for a vehicle according to an embodiment of the present invention.

[0030] like Figure 1 As shown, the driving anti-slip torque distribution method of the vehicle according to the embodiment of the present invention may include the following steps:

[0031] S1, obtaining the activation status of the front axle TCS function and the activation status of the rear axle TCS function of the vehicle;

[0032] S2, determining an inter-axle torque distribution coefficient according to an activation state of a front axle TCS function and an activation state of a rear axle TCS function;

[0033] S3, determining a front axle distribution required torque and a rear axle distribution required torque based on the inter-axle torque distribution coefficient;

[0034] S4, determining a front axle target torque and a rear axle target torque according to an activation state of the front axle TCS function, an activation state of the rear axle TCS function, a front axle distributed torque or a front axle requested torque, and a rear axle distributed torque or a rear axle requested torque.

[0035] Specifically, first obtain the activation status of the vehicle's front axle TCS function and the activation status of the rear axle TCS function, that is, detect whether the TCS is activated due to slipping on the front and rear axles of the current vehicle. Sensors can be used to monitor wheel speed and other dynamic parameters of the vehicle to determine whether TCS needs to be activated to prevent slipping. For example, the rotation speed of each wheel can be monitored by a wheel speed sensor. Slipping is usually manifested as abnormal rotation speed of one or some wheels, which does not match the expected driving speed of other wheels or the vehicle. When the detected data exceeds the wheel speed threshold, it is considered necessary to activate TCS to adjust the braking force or engine output to reduce slipping.

[0036] After obtaining the activation state of the front axle TCS function and the activation state of the rear axle TCS function of the vehicle, the inter-axle torque distribution coefficient can be determined according to the activation state of the front axle TCS function and the activation state of the rear axle TCS function, that is, the torque distribution is adjusted according to the activation state of the TCS to optimize the traction and stability of the vehicle. For example, when the TCS of the front axle and the rear axle are not activated, the original inter-axle torque distribution coefficient is used. The original inter-axle torque distribution coefficient can be defined as the ratio of the rear axle distribution demand torque to the total driver demand torque. The original inter-axle torque distribution coefficient can be calculated for front and rear axle distribution according to the economy and power of the vehicle. If the TCS of any axle is in an activated state, for example, when the front axle TCS function is in an activated state, the original inter-axle torque distribution coefficient can be increased, and when the rear axle TCS function is in an activated state, the original inter-axle torque distribution coefficient can be reduced, so that when the front axle TCS function is in an activated state, the torque lost on the front axle can be transferred to the rear axle, and when the rear axle TCS function is in an activated state, the torque lost on the rear axle can be transferred to the front axle.

[0037] Thus, after the inter-axle torque distribution coefficient is determined, the front axle distribution demand torque and the rear axle distribution demand torque can be determined according to the inter-axle torque distribution coefficient. For example, the front axle distribution demand torque and the rear axle distribution demand torque can be determined according to the product of the total demand torque (the total torque required by the vehicle under the current driving conditions, such as determined by the driver's input through the accelerator pedal) and the inter-axle torque distribution coefficient.

[0038] After determining the front axle distribution demand torque and the rear axle distribution demand torque, the front axle target torque and the rear axle target torque can be determined according to the activation state of the front axle TCS function, the activation state of the rear axle TCS function, the front axle distribution torque or the front axle request torque, the rear axle distribution torque or the rear axle request torque. For example, when both the front axle TCS function and the rear axle TCS function are in an activated state, the torque distribution coefficient is the original inter-axle torque distribution coefficient, that is, at this time, both the front and rear axles execute the TCS request torque, and no torque transfer is required, then the front axle target torque is the front axle request torque, and the rear axle target torque is the rear axle request torque. For another example, when both the front axle TCS function and the rear axle TCS function are in an inactivated state, the torque distribution coefficient is the original inter-axle torque distribution coefficient, and the front axle distribution torque calculated by the original inter-axle torque distribution coefficient can be used as the front axle target torque, and the rear axle distribution torque can be used as the rear axle target torque. For another example, when one of the front axle TCS function and the rear axle TCS function is in an activated state, the request torque corresponding to the activated state can be used as the target request torque, and the distributed torque of the axle that is not in the activated state determined by the inter-axle torque distribution coefficient can be used as the target request torque.

[0039] Therefore, by real-time monitoring of the TCS activation status of each axle and the dynamic response of the vehicle, the torque distribution is dynamically adjusted to ensure the vehicle's optimal performance and safety under various road conditions. The torque can be effectively redistributed in slippery conditions to improve vehicle stability and handling while reducing power loss caused by slipping.

[0040] According to one embodiment of the present invention, the inter-axle torque distribution coefficient is determined according to the activation state of the front axle TCS function and the activation state of the rear axle TCS function, including: when the front axle TCS function and the rear axle TCS function are both in an inactive state, the inter-axle torque distribution coefficient is determined to be the original inter-axle torque distribution coefficient; wherein the original inter-axle torque distribution coefficient is determined according to the economy and power of the whole vehicle; when the rear axle TCS function is in an activated state, the first inter-axle torque distribution coefficient is determined according to the rear axle TSC requested torque, the rear axle torque capacity lower limit, the rear axle torque capacity upper limit and the total required torque of the vehicle; when the front axle TSC function is in an activated state, the second inter-axle torque distribution coefficient is determined according to the total required torque, the front axle TSC requested torque, the rear axle torque capacity lower limit and the rear axle torque capacity upper limit.

[0041] Specifically, when determining the inter-axle torque distribution coefficient according to the activation state of the front axle TCS function and the activation state of the rear axle TCS function, the activation state of the front axle TCS function and the activation state of the rear axle TCS function are judged at the same time. When both the front axle TCS function and the rear axle TCS function are in an inactive state, it means that neither the front axle nor the rear axle of the current vehicle is slipping, and the inter-axle torque distribution coefficient can be determined to be the original inter-axle torque distribution coefficient, that is, the coefficient is pre-set based on the economy and power requirements of the vehicle, and is used to distribute the torque of the front and rear axles under normal driving conditions. For example, if the original inter-axle torque distribution coefficient is 0.4, it means that in the absence of slippage, the rear axle will obtain 40% of the total required torque, while the front axle will obtain 60%.

[0042] At the same time, the activation status of the front axle TCS function and the activation status of the rear axle TCS function are judged. When the rear axle TCS function is activated, that is, the front axle TSC function is not activated at this time, indicating that only the rear axle of the current vehicle is slipping, and the inter-axle torque distribution coefficient needs to be recalculated. At this time, the torque reduced by the rear axle will be transferred to the front axle to maintain the total driving torque of the vehicle and reduce the power loss caused by slipping. That is, the first inter-axle torque distribution coefficient can be determined according to the rear axle TSC requested torque (the torque that should be reduced), the lower limit of the rear axle torque capacity (the torque value that ensures the basic driving ability of the vehicle), the upper limit of the rear axle torque capacity (the maximum torque value that the rear axle can withstand) and the total required torque of the vehicle (the total required torque of the vehicle refers to all the torque required by the vehicle under specific driving conditions to meet the driver's acceleration needs or maintain a specific speed. It can be determined by the driver through the input of the accelerator pedal, and taking into account the current driving state of the vehicle (such as vehicle speed, acceleration, road conditions, etc.)). For example, it can be based on a predetermined relationship table, that is, in the relationship table, a rear axle TSC requested torque, a rear axle torque capacity lower limit, a rear axle torque capacity upper limit and a total required torque correspond to the corresponding first inter-axle torque distribution coefficient. When the rear axle TSC requested torque, the rear axle torque capacity lower limit, the rear axle torque capacity upper limit and the total required torque of the vehicle are determined, the first inter-axle torque distribution coefficient can be determined according to the relationship table.

[0043] At the same time, the activation state of the front axle TCS function and the activation state of the rear axle TCS function are judged. When the front axle TCS function is in the activated state, that is, the rear axle TSC function is in the inactivated state at this time, it means that only the front axle of the current vehicle is slipping, and the inter-axle torque distribution coefficient needs to be recalculated. At this time, the torque reduced by the front axle will be transferred to the rear axle. The second inter-axle torque distribution coefficient can be determined according to the total demand torque, the front axle TSC request torque, the lower limit of the rear axle torque capacity, and the upper limit of the rear axle torque capacity. For example, according to a predetermined relationship table, that is, in the relationship table, a total demand torque, a front axle TSC request torque, a rear axle torque capacity lower limit, and a rear axle torque capacity upper limit correspond to the corresponding second inter-axle torque distribution coefficient. When the total demand torque, the front axle TSC request torque, the rear axle torque capacity lower limit, and the rear axle torque capacity upper limit are determined, the second inter-axle torque distribution coefficient can be determined according to the relationship table.

[0044] According to one embodiment of the present invention, it is characterized in that the first inter-axle torque distribution coefficient is determined according to the rear axle TSC requested torque, the rear axle torque capacity lower limit, the rear axle torque capacity upper limit and the total required torque, including: when the rear axle TSC requested torque is greater than the rear axle torque capacity lower limit, the ratio of the minimum value of the rear axle TSC requested torque and the rear axle torque capacity upper limit to the total required torque is used as the first inter-axle torque distribution coefficient; when the rear axle TSC requested torque is less than the rear axle torque capacity lower limit, the ratio of the rear axle torque capacity lower limit to the total required torque is used as the first inter-axle torque distribution coefficient.

[0045] Specifically, when determining the torque distribution coefficient between the first axles according to the rear axle TSC request torque, the rear axle torque capacity lower limit, the rear axle torque capacity upper limit and the total required torque, the magnitude relationship between the rear axle TSC request torque and the rear axle torque capacity lower limit can be judged. When the rear axle TSC request torque is greater than the rear axle torque capacity lower limit, it means that the TCS system has adjusted the torque to reduce the slippage of the rear axle, but the requested torque is still higher than the rear axle torque capacity lower limit. This means that the rear axle can still provide more torque without slipping. At this time, the method for calculating the torque distribution coefficient between the first axles is to take the minimum value of the rear axle TCS request torque and the rear axle torque capacity upper limit, and then compare it with the total required torque to obtain a ratio as the torque distribution coefficient between the first axles.

[0046] When the rear axle TSC request torque is less than the rear axle torque capacity lower limit, it is clear that in order to maintain the stability of the vehicle, the rear axle needs to be allocated at least the torque specified by the torque capacity lower limit, then the rear axle torque capacity lower limit is used as the rear axle TSC request torque, and the ratio of the rear axle torque capacity lower limit to the total required torque is used as the first inter-axle torque distribution coefficient. In other words, when the rear axle TCS is in an activated state, the inter-axle torque distribution coefficient when TCS is activated (the first inter-axle torque distribution coefficient) is equal to min(max(rear axle TCS request torque, rear axle torque capacity lower limit), rear axle torque capacity upper limit) / (total required torque).

[0047] According to one embodiment of the present invention, the second inter-axle torque distribution coefficient is determined according to the total required torque, the front axle TSC requested torque, the rear axle torque capacity lower limit, and the rear axle torque capacity upper limit, including: determining the torque difference between the total required torque and the front axle TSC requested torque; when the torque difference is greater than the rear axle torque capacity lower limit, using the ratio of the minimum value of the torque difference and the rear axle torque capacity upper limit to the total required torque as the second inter-axle torque distribution coefficient; when the torque difference is less than the rear axle torque capacity lower limit, using the ratio of the rear axle torque capacity lower limit to the total required torque as the second inter-axle torque distribution coefficient.

[0048] Specifically, when determining the torque distribution coefficient between the second axles according to the total required torque, the front axle TSC requested torque, the lower limit of the rear axle torque capacity, and the upper limit of the rear axle torque capacity, first, calculate the difference between the total required torque and the front axle TCS requested torque, which represents the additional torque that can be allocated to the rear axle. The magnitude relationship between the difference and the lower limit of the rear axle capacity is judged. If the torque difference is greater than the lower limit of the rear axle torque capacity, it means that more torque can be safely allocated to the rear axle without causing the rear axle to slip. In this case, take the minimum value between the torque difference and the upper limit of the rear axle torque capacity, and then calculate the ratio of this value to the total required torque as the torque distribution coefficient between the second axles.

[0049] If the torque difference is less than the lower limit of the rear axle torque capacity, it means that in order to maintain the stability of the vehicle, the rear axle needs to be allocated at least the torque specified by the lower limit of the torque capacity. In this case, the ratio of the lower limit of the rear axle torque capacity to the total required torque is used as the second inter-axle torque distribution coefficient. This ratio ensures that even in the case of severe front axle slip, the rear axle can at least provide the torque specified by the lower limit of the torque capacity to maintain the vehicle's driving force and stability.

[0050] That is to say, when the front axle TCS is in the activated state, the inter-axle torque distribution coefficient when TCS is activated (the second inter-axle torque distribution coefficient) is equal to min(max(total required torque - front axle TSC requested torque, rear axle torque capacity lower limit), rear axle torque capacity upper limit) / (total required torque).

[0051] According to one embodiment of the present invention, the front axle distribution required torque and the rear axle distribution required torque are determined based on the inter-axle torque distribution coefficient, including: when the inter-axle torque distribution coefficient is the original inter-axle torque distribution coefficient, the product of the total required torque and the original inter-axle torque distribution coefficient is used as the first distribution torque, and the difference between the total required torque and the first distribution torque is used as the second distribution torque; when the first distribution torque is greater than the lower limit of the rear axle torque capacity, the minimum value between the first distribution torque and the upper limit of the rear axle torque capacity is used as the rear axle distribution required torque; when the first distribution torque is less than the lower limit of the rear axle torque capacity, the lower limit of the rear axle torque capacity is used as the rear axle distribution required torque; when the second distribution torque is greater than the lower limit of the front axle torque capacity, the minimum value between the second distribution torque and the upper limit of the front axle torque capacity is used as the front axle distribution required torque; when the second distribution torque is less than the lower limit of the front axle torque capacity, the lower limit of the front axle torque capacity is used as the front axle distribution required torque.

[0052] Specifically, when determining the front axle distribution demand torque and the rear axle distribution demand torque according to the inter-axle torque distribution coefficient, the inter-axle torque distribution coefficient is first determined. When the inter-axle torque distribution coefficient is the original inter-axle torque distribution coefficient, that is, when TCS is not activated, the torque distribution ratio is pre-set according to the economy and power of the vehicle. The product of the total demand torque and the original inter-axle torque distribution coefficient can be used as the first distribution torque. After the first distribution torque is determined, the difference between the total demand torque and the first distribution torque is used as the second distribution torque.

[0053] The magnitude relationship between the first distributed torque and the lower limit of the rear axle torque capacity is judged. When the first distributed torque is greater than the lower limit of the rear axle torque capacity, it means that more torque can be safely distributed to the rear axle. In this case, the minimum value between the first distributed torque and the upper limit of the rear axle torque capacity is taken as the distribution demand torque of the rear axle. When the first distributed torque is less than the lower limit of the rear axle torque capacity, it means that in order to maintain the stability of the vehicle, the rear axle needs to be at least distributed to the torque specified by the lower limit of the torque capacity. In this case, the lower limit of the rear axle torque capacity is taken as the distribution demand torque of the rear axle.

[0054] That is, the rear axle distribution required torque = min(max((total required torque)*original inter-axle torque distribution coefficient, rear axle torque capacity lower limit), rear axle torque capacity upper limit).

[0055] The magnitude relationship between the second distributed torque and the lower limit of the front axle torque capacity is judged. When the second distributed torque is greater than the lower limit of the front axle torque capacity, it means that more torque can be safely distributed to the front axle. In this case, the minimum value between the second distributed torque and the upper limit of the front axle torque capacity is taken as the distribution demand torque of the front axle. When the second distributed torque is less than the lower limit of the front axle torque capacity, it means that in order to maintain the stability of the vehicle, the front axle needs to be at least distributed to the torque specified by the lower limit of the torque capacity. In this case, the lower limit of the front axle torque capacity is taken as the distribution demand torque of the front axle.

[0056] That is, the front axle distribution required torque = min(max((total required torque)*(1-original inter-axle torque distribution coefficient), front axle torque capacity lower limit), front axle torque capacity upper limit).

[0057] As a result, the vehicle can dynamically adjust the torque distribution between the front and rear axles to adapt to different driving conditions and road conditions, thereby optimizing the vehicle's traction and stability.

[0058] According to one embodiment of the present invention, the front axle distribution required torque is determined based on the inter-axle torque distribution coefficient, including: when the inter-axle torque distribution coefficient is the first inter-axle torque distribution coefficient, the product of the total required torque and the first inter-axle torque distribution coefficient is used as the third distribution torque, and the difference between the total required torque and the third distribution torque is used as the fourth distribution torque; when the fourth distribution torque is greater than the lower limit of the front axle torque capacity, the minimum value between the fourth distribution torque and the upper limit of the front axle torque capacity is used as the front axle distribution required torque; when the fourth distribution torque is less than the lower limit of the front axle torque capacity, the lower limit of the front axle torque capacity is used as the front axle distribution required torque.

[0059] Specifically, when determining the front axle distribution demand torque and the rear axle distribution demand torque according to the inter-axle torque distribution coefficient, the inter-axle torque distribution coefficient is first determined, and when the inter-axle torque distribution coefficient is the first inter-axle torque distribution coefficient, that is, when the rear axle TSC function is in an activated state, the proportional coefficient for torque distribution is used. The product of the total demand torque and the first inter-axle torque distribution coefficient can be used as the third distribution torque. After determining the third distribution torque, the difference between the total demand torque and the third distribution torque is used as the fourth distribution torque.

[0060] The relationship between the fourth distributed torque and the lower limit of the front axle torque capacity is judged. When the fourth distributed torque is greater than the lower limit of the front axle torque capacity, it means that more torque can be safely distributed to the front axle. In this case, the minimum value between the fourth distributed torque and the upper limit of the front axle torque capacity is taken as the distribution requirement torque of the front axle: When the fourth distributed torque is less than the lower limit of the front axle torque capacity, it means that in order to maintain the stability of the vehicle, the front axle needs to be allocated at least the torque specified by the lower limit of the torque capacity. The lower limit of the front axle torque capacity can be used as the front axle distribution requirement torque.

[0061] That is, the front axle distribution required torque = min(max(total required torque*(1-first inter-axle torque distribution coefficient), front axle torque capacity lower limit), front axle torque capacity upper limit).

[0062] According to one embodiment of the present invention, the rear axle distribution required torque is determined based on the inter-axle torque distribution coefficient, including: when the inter-axle torque distribution coefficient is the second inter-axle torque distribution coefficient, the product of the total required torque and the second inter-axle torque distribution coefficient is used as the fifth distribution torque; when the fifth distribution torque is greater than the lower limit of the rear axle torque capacity, the minimum value between the fifth distribution torque and the upper limit of the rear axle torque capacity is used as the rear axle distribution required torque; when the fifth distribution torque is less than the lower limit of the rear axle torque capacity, the lower limit of the rear axle torque capacity is used as the rear axle distribution required torque.

[0063] Specifically, when determining the front axle distribution required torque and the rear axle distribution required torque according to the inter-axle torque distribution coefficient, the inter-axle torque distribution coefficient is first determined, and when the inter-axle torque distribution coefficient is the second inter-axle torque distribution coefficient, that is, when the front axle TSC function is in an activated state, the proportional coefficient for torque distribution is used. The product of the total required torque and the second inter-axle torque distribution coefficient can be used as the fifth distributed torque.

[0064] The relationship between the fifth distributed torque and the lower limit of the rear axle torque capacity is judged. When the fifth distributed torque is greater than the lower limit of the rear axle torque capacity, it means that more torque can be safely distributed to the rear axle. In this case, the minimum value between the fifth distributed torque and the upper limit of the rear axle torque capacity is taken as the distribution requirement torque of the rear axle: When the fifth distributed torque is less than the lower limit of the rear axle torque capacity, it means that in order to maintain the stability of the vehicle, the rear axle needs to be allocated at least the torque specified by the lower limit of the torque capacity. The lower limit of the rear axle torque capacity can be used as the rear axle distribution requirement torque.

[0065] That is, the rear axle distribution required torque = min(max(total required torque*second inter-axle torque distribution coefficient), rear axle torque capacity lower limit), rear axle torque capacity upper limit).

[0066] According to one embodiment of the present invention, the front axle target torque and the rear axle target torque are determined according to the activation state of the front axle TCS function, the activation state of the rear axle TCS function, the front axle allocated torque or the front axle requested torque, the rear axle allocated torque or the rear axle requested torque, including: when both the front axle TCS function and the rear axle TCS function are in an inactive state, the front axle allocated torque is used as the front axle target torque, and the rear axle allocated torque is used as the rear axle target torque; when both the front axle TCS function and the rear axle TCS function are in an activated state, the front axle requested torque is used as the front axle target torque, and the rear axle requested torque is used as the rear axle target torque; when the front axle TCS function is in an activated state and the rear axle TCS function is in an inactivated state, the front axle requested torque is used as the front axle target torque, and the rear axle allocated torque is used as the rear axle target torque; when the front axle TCS function is in an inactivated state and the rear axle TCS function is in an activated state, the front axle allocated torque is used as the front axle target torque, and the rear axle requested torque is used as the rear axle target torque.

[0067] Specifically, the front axle target torque and the rear axle target torque are determined according to the activation status of the front axle TCS function, the activation status of the rear axle TCS function, the front axle distributed torque or the front axle requested torque, the rear axle distributed torque or the rear axle requested torque, and the activation status of the front axle TCS function and the activation status of the rear axle TCS function are judged. When both the front axle TCS function and the rear axle TCS function are in an inactive state, it means that the current vehicle is in a normal driving state and no axle slips. The front axle target torque is the front axle distributed torque, and the rear axle target torque is the rear axle distributed torque, that is, the vehicle distributes torque according to the original inter-axle torque distribution coefficient and no additional adjustment is required.

[0068] When both the front axle TCS function and the rear axle TCS function are activated, that is, slip is detected on both axles of the vehicle, the TCS system intervenes to adjust the torque to optimize traction. The front axle target torque is set to the front axle requested torque, and the rear axle target torque is set to the rear axle requested torque. That is, the vehicle adjusts the torque according to the request of the TCS system to reduce slip and maintain vehicle stability.

[0069] When the front axle TCS function is activated and the rear axle TCS function is inactivated, it means that only the front axle currently detects slippage, while the rear axle does not slip. The front axle target torque is set to the front axle request torque, while the rear axle target torque is the rear axle allocated torque. This means that the vehicle adjusts the torque for the slipping front axle, while the rear axle distributes torque according to the second inter-axle torque distribution coefficient. When the front axle TCS function is inactivated and the rear axle TCS function is activated, it means that only the rear axle currently detects slippage, while the front axle does not slip. The rear axle target torque is set to the rear axle request torque, while the front axle target torque is the front axle allocated torque. This means that the vehicle adjusts the torque for the slipping rear axle, while the front axle distributes torque according to the first inter-axle torque distribution coefficient.

[0070] In summary, as a specific example, the calculation process of the inter-axle torque distribution coefficient and the calculation process of the driving anti-slip torque distribution are respectively as follows: Figure 2 and Figure 3As shown, the original inter-axle torque distribution coefficient can be defined as r0, the inter-axle torque distribution coefficient when TCS is activated is r1 (including front axle TCS activation and rear axle TCS activation), and the final inter-axle torque distribution coefficient is r2. The final execution torque of the front axle is the front axle target torque, and the final execution torque of the rear axle is the rear axle target torque. Taking the original inter-axle torque distribution coefficient r0 as 0.4, the total required torque of the vehicle is 1000Nm, the lower limit of the rear axle torque capacity and the lower limit of the front axle torque capacity are 300Nm, the upper limit of the rear axle torque capacity and the upper limit of the front axle torque capacity are 700Nm, the front axle TCS request torque is 550Nm, and the rear axle TCS request torque is 350Nm as an example, when only the rear axle TCS function is activated, the inter-axle torque distribution coefficient when TCS is activated is equal to min(max(rear axle TCS request torque, rear axle torque capacity lower limit), and the rear axle torque ... Torque capacity upper limit) / (total required torque), to transfer the torque lost on the rear axle to the front axle, that is, r1=350 / 1000=0.35. When only the front axle TCS function is activated, the inter-axle torque distribution coefficient when TCS is activated is equal to min(max((total required torque-front axle TCS requested torque), rear axle torque capacity lower limit), rear axle torque capacity upper limit) / (front axle driver required torque+rear axle driver required torque), to transfer the torque lost on the front axle to the rear axle, that is, r1=450 / 1000=0.45.

[0071] When calculating the front axle target torque and the rear axle target torque, when TCS is not in the activated state, the final inter-axle torque distribution coefficient r2 = r0, the rear axle distribution demand torque = min(max(total demand torque * original inter-axle torque distribution coefficient, rear axle torque capacity lower limit), rear axle torque capacity upper limit) = 1000*0.4 = 400Nm; the front axle distribution demand torque = min(max((total demand torque)*(1-original inter-axle torque distribution coefficient), rear axle torque capacity lower limit), rear axle torque capacity upper limit) = 1000*(1-0.4) = 600Nm, thus it can be determined that the front axle target torque is 600Nm and the rear axle target torque is 400Nm.

[0072] When the front and rear axle TCS are activated simultaneously, the front axle target torque can be determined as the front axle TCS requested torque of 550 Nm, and the rear axle target torque can be determined as the rear axle TCS requested torque of 350 Nm.

[0073] When only the rear axle TCS is activated and the front axle TCS is inactive, the final inter-axle torque distribution coefficient r2=r1=0.35, the rear axle target torque is the rear axle TCS request torque of 350Nm, the front axle distribution demand torque=min(max((total demand torque)*(1-inter-axle torque distribution coefficient when TCS is activated), front axle torque capacity lower limit), front axle torque capacity upper limit)=1000(*1-0.35)=650Nm, thus, the front axle target torque is the front axle distribution demand torque of 650Nm. Therefore, the torque lost on the rear axle has been transferred to the front axle, so there is no loss in the total drive torque.

[0074] When only the front axle TCS is activated and the rear axle TCS is inactive, the final inter-axle torque distribution coefficient r2=r1=0.45, the front axle target torque is the front axle TCS request torque of 550Nm, and the rear axle distribution demand torque=min(max((total demand torque)*inter-axle torque distribution coefficient when TCS is activated, rear axle torque capacity lower limit), rear axle torque capacity upper limit)=1000*0.45=450Nm, thus, the rear axle target torque is the rear axle distribution demand torque of 450Nm. Since the torque lost on the front axle has been transferred to the rear axle, there is no loss in the total driving torque.

[0075] Combine the following Figure 4 To describe the allocation method of the present invention.

[0076] As a specific example, the driving anti-slip torque distribution method of the vehicle of the present invention may include the following steps:

[0077] S101, obtaining the activation status of the front axle TCS function and the activation status of the rear axle TCS function of the vehicle, and proceeding to step S101, step S110 and step S115 respectively.

[0078] S102 , when both the front axle TCS function and the rear axle TCS function are in an inactive state, determining the inter-axle torque distribution coefficient as an original inter-axle torque distribution coefficient.

[0079] S103, taking the product of the total required torque and the original inter-axle torque distribution coefficient as the first distributed torque, taking the difference between the total required torque and the first distributed torque as the second distributed torque, and entering step S104 and step S107 respectively.

[0080] S104, determining whether the first distributed torque is greater than the lower limit of the rear axle torque capacity. If yes, executing step S105; if not, executing step S106.

[0081] S105: The minimum value between the first distributed torque and the upper limit of the rear axle torque capacity is used as the rear axle target torque.

[0082] S106: The lower limit of the rear axle torque capacity is used as the rear axle target torque.

[0083] S107, judging whether the second distributed torque is greater than the lower limit of the front axle torque capacity. If yes, executing step S108; if not, executing step S109.

[0084] S108: The minimum value between the fourth distributed torque and the front axle torque capacity upper limit is used as the front axle distributed required torque.

[0085] S109: Using the lower limit of the front axle torque capacity as the front axle distribution required torque.

[0086] S110 , when the rear axle TCS function is in an activated state, determining a first inter-axle torque distribution coefficient according to the rear axle TSC request torque, the rear axle torque capacity lower limit, the rear axle torque capacity upper limit and the total required torque of the vehicle.

[0087] S111: The product of the total required torque and the first inter-axle torque distribution coefficient is used as the third distributed torque, and the difference between the total required torque and the third distributed torque is used as the fourth distributed torque.

[0088] S112, judging whether the fourth distributed torque is greater than the lower limit of the front axle torque capacity. If yes, executing step S113; if not, executing step S114.

[0089] S113: The minimum value between the fourth distributed torque and the front axle torque capacity upper limit is used as the front axle target torque, and the rear axle requested torque is used as the rear axle target torque.

[0090] S114 , the front axle torque capacity lower limit is used as the front axle distribution required torque, and the rear axle request torque is used as the rear axle target torque.

[0091] S115, when the front axle TSC function is in an activated state, determining a second inter-axle torque distribution coefficient according to the total required torque, the front axle TSC requested torque, the rear axle torque capacity lower limit, and the torque capacity upper limit.

[0092] S116: The minimum value between the fifth distributed torque and the upper limit of the rear axle torque capacity is used as the rear axle distributed required torque.

[0093] S117, judging whether the fifth distributed torque is less than the lower limit of the rear axle torque capacity. If yes, executing step S118; if not, executing step S119.

[0094] S118: The minimum value between the fifth distributed torque and the upper limit of the rear axle torque capacity is used as the rear axle distributed required torque, and the front axle requested torque is used as the front axle target torque.

[0095] S119: The lower limit of the rear axle torque capacity is used as the rear axle distribution required torque, and the front axle request torque is used as the front axle target torque.

[0096] In summary, according to the method for distributing the driving anti-skid torque of a vehicle in an embodiment of the present invention, the activation state of the front axle TCS function and the activation state of the rear axle TCS function of the vehicle are obtained; the inter-axle torque distribution coefficient is determined according to the activation state of the front axle TCS function and the activation state of the rear axle TCS function; the front axle distribution required torque and the rear axle distribution required torque are determined based on the inter-axle torque distribution coefficient; the front axle target torque and the rear axle target torque are determined according to the activation state of the front axle TCS function, the activation state of the rear axle TCS function, the front axle distribution torque or the front axle request torque, the rear axle distribution torque or the rear axle request torque. Therefore, this method can achieve the maximum degree of non-reduction of the total driving torque during the activation of the TCS driving anti-skid function, make the total driving torque as close as possible to the driver's required torque, and reduce power loss.

[0097] Corresponding to the above embodiment, the present invention also provides a vehicle.

[0098] like Figure 5 As shown, the vehicle 200 of the embodiment of the present invention may include: a memory 210, a processor 220, and a program stored in the memory 210 and executable on the processor 220. When the processor 220 executes the program, the above-mentioned vehicle driving anti-slip torque distribution method is implemented.

[0099] According to the vehicle of the embodiment of the present invention, by executing the above-mentioned vehicle driving anti-skid torque distribution method, it is possible to ensure that the total driving torque is not reduced to the greatest extent during the activation of the TCS driving anti-skid function, so that the total driving torque is as close as possible to the torque required by the driver, thereby reducing power loss.

[0100] Corresponding to the above-mentioned embodiment, the present invention further proposes a driving anti-slip torque distribution device for a vehicle.

[0101] like Figure 6 As shown, the driving anti-slip torque distribution device 100 of the vehicle according to the embodiment of the present invention includes: an acquisition module 110 , a first determination module 120 , a second determination module 130 and a third determination module 140 .

[0102] Among them, the acquisition module 110 is used to acquire the activation state of the front axle TCS function and the activation state of the rear axle TCS function of the vehicle. The first determination module 120 is used to determine the inter-axle torque distribution coefficient according to the activation state of the front axle TCS function and the activation state of the rear axle TCS function. The second determination module 130 is used to determine the front axle distribution required torque and the rear axle distribution required torque based on the inter-axle torque distribution coefficient. The third determination module 140 is used to determine the front axle target torque and the rear axle target torque according to the activation state of the front axle TCS function, the activation state of the rear axle TCS function, the front axle distribution torque or the front axle request torque, the rear axle distribution torque or the rear axle request torque.

[0103] According to one embodiment of the present invention, the first determination module 120 determines the inter-axle torque distribution coefficient according to the activation state of the front axle TCS function and the activation state of the rear axle TCS function, and is specifically used for: when the front axle TCS function and the rear axle TCS function are both in an inactive state, determining the inter-axle torque distribution coefficient as the original inter-axle torque distribution coefficient; wherein the original inter-axle torque distribution coefficient is determined according to the economy and power of the whole vehicle; when the rear axle TCS function is in an activated state, determining the first inter-axle torque distribution coefficient according to the rear axle TSC requested torque, the lower limit of the rear axle torque capacity, the upper limit of the rear axle torque capacity and the total required torque of the vehicle; when the front axle TSC function is in an activated state, determining the second inter-axle torque distribution coefficient according to the total required torque, the front axle TSC requested torque, the lower limit of the rear axle torque capacity and the upper limit of the rear axle torque capacity.

[0104] According to one embodiment of the present invention, the first determination module 120 determines the first inter-axle torque distribution coefficient based on the rear axle TSC requested torque, the rear axle torque capacity lower limit, the rear axle torque capacity upper limit and the total required torque, and is specifically used for: when the rear axle TSC requested torque is greater than the rear axle torque capacity lower limit, the ratio of the minimum value of the rear axle TSC requested torque and the rear axle torque capacity upper limit to the total required torque is used as the first inter-axle torque distribution coefficient; when the rear axle TSC requested torque is less than the rear axle torque capacity lower limit, the ratio of the rear axle torque capacity lower limit to the total required torque is used as the first inter-axle torque distribution coefficient.

[0105] According to one embodiment of the present invention, the first determination module 120 determines the second inter-axle torque distribution coefficient based on the total required torque, the front axle TSC requested torque, the lower limit of the rear axle torque capacity, and the upper limit of the rear axle torque capacity, and is specifically used to: determine the torque difference between the total required torque and the front axle TSC requested torque; when the torque difference is greater than the lower limit of the rear axle torque capacity, the ratio of the minimum value of the torque difference and the upper limit of the rear axle torque capacity to the total required torque is used as the second inter-axle torque distribution coefficient; when the torque difference is less than the lower limit of the rear axle torque capacity, the ratio of the lower limit of the rear axle torque capacity to the total required torque is used as the second inter-axle torque distribution coefficient.

[0106] According to one embodiment of the present invention, the second determination module 130 determines the front axle distribution required torque and the rear axle distribution required torque based on the inter-axle torque distribution coefficient, and is specifically used for: when the inter-axle torque distribution coefficient is the original inter-axle torque distribution coefficient, the product of the total required torque and the original inter-axle torque distribution coefficient is used as the first distribution torque, and the difference between the total required torque and the first distribution torque is used as the second distribution torque; when the first distribution torque is greater than the lower limit of the rear axle torque capacity, the minimum value between the first distribution torque and the upper limit of the rear axle torque capacity is used as the rear axle distribution required torque; when the first distribution torque is less than the lower limit of the rear axle torque capacity, the lower limit of the rear axle torque capacity is used as the rear axle distribution required torque; when the second distribution torque is greater than the lower limit of the front axle torque capacity, the minimum value between the second distribution torque and the upper limit of the front axle torque capacity is used as the front axle distribution required torque; when the second distribution torque is less than the lower limit of the front axle torque capacity, the lower limit of the front axle torque capacity is used as the front axle distribution required torque.

[0107] According to one embodiment of the present invention, the second determination module 130 determines the front axle distribution required torque based on the inter-axle torque distribution coefficient, and is specifically used for: when the inter-axle torque distribution coefficient is the first inter-axle torque distribution coefficient, the product of the total required torque and the first inter-axle torque distribution coefficient is used as the third distribution torque, and the difference between the total required torque and the third distribution torque is used as the fourth distribution torque; when the fourth distribution torque is greater than the lower limit of the front axle torque capacity, the minimum value between the fourth distribution torque and the upper limit of the front axle torque capacity is used as the front axle distribution required torque; when the fourth distribution torque is less than the lower limit of the front axle torque capacity, the lower limit of the front axle torque capacity is used as the front axle distribution required torque.

[0108] According to one embodiment of the present invention, the second determination module 130 determines the rear axle distribution required torque based on the inter-axle torque distribution coefficient, and is specifically used for: when the inter-axle torque distribution coefficient is the second inter-axle torque distribution coefficient, the product of the total required torque and the second inter-axle torque distribution coefficient is used as the fifth distribution torque; when the fifth distribution torque is greater than the lower limit of the rear axle torque capacity, the minimum value between the fifth distribution torque and the upper limit of the rear axle torque capacity is used as the rear axle distribution required torque; when the fifth distribution torque is less than the lower limit of the rear axle torque capacity, the lower limit of the rear axle torque capacity is used as the rear axle distribution required torque.

[0109] According to one embodiment of the present invention, the third determination module 140 determines the front axle target torque and the rear axle target torque according to the activation state of the front axle TCS function, the activation state of the rear axle TCS function, the front axle allocated torque or the front axle requested torque, the rear axle allocated torque or the rear axle requested torque, and is specifically used for: when both the front axle TCS function and the rear axle TCS function are in an inactive state, the front axle allocated torque is used as the front axle target torque, and the rear axle allocated torque is used as the rear axle target torque; when both the front axle TCS function and the rear axle TCS function are in an activated state, the front axle requested torque is used as the front axle target torque, and the rear axle requested torque is used as the rear axle target torque; when the front axle TCS function is in an activated state and the rear axle TCS function is in an inactivated state, the front axle requested torque is used as the front axle target torque, and the rear axle allocated torque is used as the rear axle target torque; when the front axle TCS function is in an inactivated state and the rear axle TCS function is in an activated state, the front axle allocated torque is used as the front axle target torque, and the rear axle requested torque is used as the rear axle target torque.

[0110] It should be noted that for details not disclosed in the driving anti-slip torque distribution device of the vehicle in the embodiment of the present invention, please refer to the details disclosed in the driving anti-slip torque distribution method of the vehicle in the embodiment of the present invention, and the details will not be repeated here.

[0111] According to the driving anti-skid torque distribution device of the vehicle of the embodiment of the present invention, the acquisition module is used to acquire the activation state of the front axle TCS function and the activation state of the rear axle TCS function of the vehicle; the first determination module is used to determine the inter-axle torque distribution coefficient according to the activation state of the front axle TCS function and the activation state of the rear axle TCS function; the second determination module is used to determine the front axle distribution demand torque and the rear axle distribution demand torque based on the inter-axle torque distribution coefficient; the third determination module is used to determine the front axle target torque and the rear axle target torque according to the activation state of the front axle TCS function, the activation state of the rear axle TCS function, the front axle distribution torque or the front axle request torque, the rear axle distribution torque or the rear axle request torque. Therefore, the device can achieve the maximum degree of non-reduction of the total driving torque during the activation of the TCS driving anti-skid function, so that the total driving torque is as close as possible to the driver's demand torque, reducing power loss.

[0112] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0113] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0114] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0115] 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. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0116] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0117] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A method for distributing driving anti-slip torque of a vehicle, characterized in that: The method comprises: Acquire the activation state of the front axle TCS function and the activation state of the rear axle TCS function of the vehicle; determining an inter-axle torque distribution coefficient according to an activation state of the front axle TCS function and an activation state of the rear axle TCS function; Determining a front axle distribution required torque and a rear axle distribution required torque based on the inter-axle torque distribution coefficient; The front axle target torque and the rear axle target torque are determined according to the activation state of the front axle TCS function, the activation state of the rear axle TCS function, the front axle distributed torque or the front axle requested torque, and the rear axle distributed torque or the rear axle requested torque.

2. The method for distributing driving anti-slip torque of a vehicle according to claim 1, characterized in that: The determining of the inter-axle torque distribution coefficient according to the activation state of the front axle TCS function and the activation state of the rear axle TCS function includes: When both the front axle TCS function and the rear axle TCS function are in an inactive state, determining the inter-axle torque distribution coefficient as an original inter-axle torque distribution coefficient; wherein the original inter-axle torque distribution coefficient is determined according to the economy and power of the vehicle; When the rear axle TCS function is in an activated state, determining a first inter-axle torque distribution coefficient according to the rear axle TSC request torque, the rear axle torque capacity lower limit, the rear axle torque capacity upper limit and the total required torque of the vehicle; When the front axle TSC function is in an activated state, a second inter-axle torque distribution coefficient is determined according to the total required torque, the front axle TSC requested torque, the rear axle torque capacity lower limit, and the rear axle torque capacity upper limit.

3. The vehicle driving anti-slip torque distribution method according to claim 2, characterized in that: The determining of the first inter-axle torque distribution coefficient according to the rear axle TSC request torque, the rear axle torque capacity lower limit, the rear axle torque capacity upper limit and the total required torque includes: When the rear axle TSC requested torque is greater than the rear axle torque capacity lower limit, a ratio of a minimum value between the rear axle TSC requested torque and the rear axle torque capacity upper limit to the total required torque is used as the first inter-axle torque distribution coefficient; When the rear axle TSC requested torque is less than the rear axle torque capacity lower limit, a ratio of the rear axle torque capacity lower limit to the total required torque is used as the first inter-axle torque distribution coefficient.

4. The vehicle driving anti-slip torque distribution method according to claim 2, characterized in that: The determining of the second inter-axle torque distribution coefficient according to the total required torque, the front axle TSC requested torque, the rear axle torque capacity lower limit, and the rear axle torque capacity upper limit includes: determining a torque difference between the total required torque and the front axle TSC requested torque; When the torque difference is greater than the rear axle torque capacity lower limit, the ratio of the minimum value between the torque difference and the rear axle torque capacity upper limit to the total required torque is used as the second inter-axle torque distribution coefficient; When the torque difference is less than the lower limit of the rear axle torque capacity, the ratio of the lower limit of the rear axle torque capacity to the total required torque is used as the second inter-axle torque distribution coefficient.

5. The vehicle driving anti-slip torque distribution method according to claim 2, characterized in that: The determining of the front axle distribution required torque and the rear axle distribution required torque based on the inter-axle torque distribution coefficient includes: When the inter-axle torque distribution coefficient is the original inter-axle torque distribution coefficient, the product of the total required torque and the original inter-axle torque distribution coefficient is used as the first distribution torque, and the difference between the total required torque and the first distribution torque is used as the second distribution torque; When the first distributed torque is greater than the lower limit of the rear axle torque capacity, the minimum value between the first distributed torque and the upper limit of the rear axle torque capacity is used as the rear axle distributed required torque; When the first distributed torque is less than the lower limit of the rear axle torque capacity, the lower limit of the rear axle torque capacity is used as the rear axle distributed required torque; When the second distributed torque is greater than the front axle torque capacity lower limit, the minimum value between the second distributed torque and the front axle torque capacity upper limit is used as the front axle distributed required torque; When the second distributed torque is smaller than the front axle torque capacity lower limit, the front axle torque capacity lower limit is used as the front axle distributed required torque.

6. The vehicle driving anti-slip torque distribution method according to claim 2, characterized in that: The determining of the front axle distribution required torque based on the inter-axle torque distribution coefficient comprises: When the inter-axle torque distribution coefficient is the first inter-axle torque distribution coefficient, the product of the total required torque and the first inter-axle torque distribution coefficient is used as the third distributed torque, and the difference between the total required torque and the third distributed torque is used as the fourth distributed torque; When the fourth distributed torque is greater than the front axle torque capacity lower limit, a minimum value between the fourth distributed torque and the front axle torque capacity upper limit is used as the front axle distributed required torque; When the fourth distributed torque is smaller than the front axle torque capacity lower limit, the front axle torque capacity lower limit is used as the front axle distributed required torque.

7. The vehicle driving anti-slip torque distribution method according to claim 2, characterized in that: The determining of the rear axle distribution required torque based on the inter-axle torque distribution coefficient includes: When the inter-axle torque distribution coefficient is the second inter-axle torque distribution coefficient, a product of the total required torque and the second inter-axle torque distribution coefficient is used as a fifth distributed torque; In a case where the fifth distributed torque is greater than the rear axle torque capacity lower limit, a minimum value between the fifth distributed torque and the rear axle torque capacity upper limit is used as the rear axle distributed required torque; When the fifth distributed torque is smaller than the rear axle torque capacity lower limit, the rear axle torque capacity lower limit is used as the rear axle distributed required torque.

8. The vehicle driving anti-slip torque distribution method according to claim 1, characterized in that: The determining of the front axle target torque and the rear axle target torque according to the activation state of the front axle TCS function, the activation state of the rear axle TCS function, the front axle allocated torque or the front axle requested torque, and the rear axle allocated torque or the rear axle requested torque includes: When both the front axle TCS function and the rear axle TCS function are in an inactive state, the front axle distributed torque is used as the front axle target torque, and the rear axle distributed torque is used as the rear axle target torque; When both the front axle TCS function and the rear axle TCS function are in an activated state, the front axle request torque is used as the front axle target torque, and the rear axle request torque is used as the rear axle target torque; When the front axle TCS function is in an activated state and the rear axle TCS function is in an inactivated state, the front axle requested torque is used as the front axle target torque, and the rear axle distributed torque is used as the rear axle target torque; When the front axle TCS function is in an inactive state and the rear axle TCS function is in an active state, the front axle distributed torque is used as the front axle target torque, and the rear axle requested torque is used as the rear axle target torque.

9. A vehicle, characterized in that: include: A memory, a processor, and a program stored in the memory and executable on the processor, wherein when the processor executes the program, the driving anti-slip torque distribution method for a vehicle according to any one of claims 1 to 8 is implemented.

10. A driving anti-slip torque distribution device for a vehicle, characterized in that: The device comprises: An acquisition module, used for acquiring an activation state of a front axle TCS function and an activation state of a rear axle TCS function of the vehicle; A first determination module, configured to determine an inter-axle torque distribution coefficient according to an activation state of the front axle TCS function and an activation state of the rear axle TCS function; A second determination module, configured to determine a front axle distribution required torque and a rear axle distribution required torque based on the inter-axle torque distribution coefficient; The third determination module is used to determine the front axle target torque and the rear axle target torque according to the activation state of the front axle TCS function, the activation state of the rear axle TCS function, the front axle distributed torque or the front axle requested torque, and the rear axle distributed torque or the rear axle requested torque.

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