Driving torque distribution method, device and equipment of vehicle and medium

Abstract

The invention discloses a driving torque distribution method, device and equipment of a vehicle and a medium. The driving torque distribution method comprises the steps that when a vehicle is started, a first motor connected with a first constant-speed-ratio speed reducer in a first drive axle and a third motor connected with a second constant-speed-ratio speed reducer in a second drive axle are controlled to be started; according to the real-time opening degree of an accelerator pedal after the vehicle is started, the real-time required torque is determined; acquiring a real-time vehicle speed after the vehicle is started; according to the real-time required torque and the real-time vehicle speed, the starting state of a second motor connected with a first gearbox in a first drive axle and the starting state of a fourth motor connected with a second gearbox in a second drive axle are controlled; and controlling the real-time output torque of the first motor, the second motor, the third motor and the fourth motor according to the starting states of the first motor, the second motor, the third motor and the fourth motor. By adopting the driving torque distribution method, the dynamic property and the economical efficiency of the whole vehicle can be considered.

Description

Technical Field

[0001] The present invention relates to the field of vehicle driving technology, and in particular to a vehicle driving torque distribution method, device, equipment and medium. Background Art

[0002] The torque requirement for pure electric heavy trucks is relatively large, so multi-motor drive is generally adopted considering factors such as motor cost, layout space, and weight. For multi-motor drive vehicles, power mode and economic mode are generally set. The power mode has high requirements for acceleration performance and climbing performance, and can appropriately sacrifice economy. The economic mode aims at optimizing energy consumption, and can appropriately sacrifice vehicle power and smoothness.

[0003] The medium torque distribution method of multi-motor drive corresponds to the power mode. Because all motors start working at the same time, there is no torque response delay caused by motor switching, so the power response is fast. When distributing torque in multi-motor drive, mathematical equations of state equations, system constraints, and system boundary conditions are established, and complex operations such as iteration and derivation are performed to find the optimal solution. This torque distribution method corresponds to the economic mode, because the output power of the electric drive system is always guaranteed to be the lowest, so the energy consumption is optimal. The existing vehicle drive torque distribution method cannot take into account both the power and economy of the vehicle. Summary of the invention

[0004] The present invention provides a method, device, equipment and medium for distributing driving torque of a vehicle, so as to solve the problem that the existing method for distributing driving torque of a vehicle cannot take into account both the power and economy of the whole vehicle.

[0005] In a first aspect, an embodiment of the present invention provides a method for distributing a driving torque of a vehicle, wherein the vehicle comprises a first drive axle and a second drive axle, wherein the first drive axle comprises a first motor, a second motor, a first constant speed ratio reducer and a first gearbox, wherein the second drive axle comprises a third motor and a fourth motor, a second constant speed ratio reducer and a second gearbox, wherein the first motor is connected to the first constant speed ratio reducer, the second motor is connected to the first gearbox, the third motor is connected to the second constant speed ratio reducer, and the fourth motor is connected to the second gearbox, wherein the method for distributing the driving torque comprises:

[0006] When the vehicle is started, controlling the first motor and the third motor to start;

[0007] Obtaining the real-time accelerator pedal opening and the real-time vehicle speed after the vehicle is started;

[0008] Determining a real-time required torque according to the real-time accelerator pedal opening and the real-time vehicle speed;

[0009] controlling the start-up states of the second motor and the fourth motor according to the real-time required torque and the real-time vehicle speed;

[0010] Real-time output torques of the first motor, the second motor, the third motor, and the fourth motor are controlled according to a start-up state of the first motor, the second motor, the third motor, and the fourth motor.

[0011] Optionally, controlling the start-up states of the second motor and the fourth motor according to the real-time required torque and the real-time vehicle speed includes:

[0012] Determine a first real-time torque threshold, a second real-time torque threshold, and a third real-time torque threshold according to the real-time vehicle speed, wherein the first real-time torque threshold is less than the second real-time torque threshold, and the second real-time torque threshold is less than the third real-time torque threshold;

[0013] If the real-time required torque is less than or equal to the first real-time torque threshold, controlling the second motor and the fourth motor to stop;

[0014] If the real-time required torque is greater than the first real-time torque threshold and less than or equal to the second real-time torque threshold, the second motor is controlled to start and the fourth motor is controlled to stop;

[0015] If the immediate required torque is greater than the second immediate torque threshold, the second motor and the fourth motor are controlled to start.

[0016] Optionally, controlling the real-time output torques of the first motor, the second motor, the third motor, and the fourth motor according to the starting states of the first motor, the second motor, the third motor, and the fourth motor includes:

[0017] The real-time output torques of the first motor, the second motor, the third motor and the fourth motor are controlled according to the start-up states of the first motor, the second motor, the third motor and the fourth motor and the third real-time torque threshold.

[0018] Optionally, controlling the real-time output torques of the first motor, the second motor, the third motor, and the fourth motor according to the start-up states of the first motor, the second motor, the third motor, and the fourth motor and the third real-time torque threshold comprises:

[0019] If the first motor and the third motor are started, determining the real-time output torque of the first motor according to the real-time required torque, the real-time rated torque of the first motor and the first real-time torque threshold, and determining the real-time output torque of the third motor according to the real-time required torque, the real-time rated torque of the third motor and the first real-time torque threshold;

[0020] If the first motor, the second motor and the third motor are started, the real-time output torque of the first motor is controlled to be the real-time rated torque of the first motor, the real-time output torque of the third motor is controlled to be the real-time rated torque of the third motor, and the real-time output torque of the second motor is determined according to the real-time required torque, the first real-time torque threshold and the speed ratio of the first gearbox;

[0021] If the first motor, the second motor, the third motor and the fourth motor are all started, and the real-time required torque is less than or equal to the third real-time torque threshold, the real-time output torque of the first motor is controlled to be the real-time rated torque of the first motor, the real-time output torque of the second motor is controlled to be the real-time rated torque of the second motor, the real-time output torque of the third motor is controlled to be the real-time rated torque of the third motor, and the real-time output torque of the fourth motor is determined according to the real-time required torque, the second real-time torque threshold and the speed ratio of the second gearbox;

[0022] If the first motor, the second motor, the third motor and the fourth motor are all started and the real-time required torque is greater than the third real-time torque threshold, the real-time output torques of the first motor, the second motor, the third motor and the fourth motor are determined according to the maximum output torques of the first motor, the second motor, the third motor and the fourth motor, the speed ratio of the first constant-speed ratio reducer and the second constant-speed ratio reducer, the speed ratio of the first gearbox and the second gearbox, and the real-time required torque.

[0023] Optionally, determining a first real-time torque threshold, a second real-time torque threshold, and a third real-time torque threshold according to the real-time vehicle speed includes:

[0024] determining the real-time rated torques of the first motor, the second motor, the third motor, and the fourth motor according to the real-time vehicle speed;

[0025] determining the first real-time torque threshold value according to the real-time rated torques of the first motor and the third motor, and the speed ratio of the first constant-speed ratio reducer and the second constant-speed ratio reducer;

[0026] determining the second real-time torque threshold value according to the real-time rated torques of the first motor, the second motor and the third motor, the speed ratios of the first constant-speed ratio reducer and the second constant-speed ratio reducer, and the speed ratio of the first gearbox;

[0027] The third real-time torque threshold is determined according to the real-time rated torques of the first motor, the second motor, the third motor and the fourth motor, the speed ratios of the first constant-speed ratio reducer and the second constant-speed ratio reducer, and the speed ratios of the first gearbox and the second gearbox.

[0028] Optionally, the driving torque distribution method further includes:

[0029] If the duration for which the vehicle meets the preset conditions is greater than or equal to the preset time, and the real-time output torque of the first motor is greater than or equal to the maximum preset torque in the preset torque range, the second motor, the third motor and the fourth motor are controlled to stop, wherein the preset conditions include that the real-time vehicle speed meets the preset vehicle speed range and the real-time required torque meets the preset torque range.

[0030] Optionally, after controlling the second motor, the third motor and the fourth motor to stop, the driving torque distribution method further includes:

[0031] If the maximum output torque of the first motor is less than the real-time required torque, the third motor is controlled to start.

[0032] In a second aspect, an embodiment of the present invention provides a driving torque distribution device for a vehicle, which is used to execute the driving torque distribution method as described in the first aspect, and the driving torque distribution device includes:

[0033] A first starting control unit, used for controlling the first motor and the third motor to start when the vehicle starts;

[0034] a real-time required torque determination unit, configured to determine the real-time required torque according to the real-time accelerator pedal opening after the vehicle is started;

[0035] A real-time vehicle speed acquisition unit, used to acquire the real-time vehicle speed after the vehicle is started;

[0036] a second starting control unit, configured to control the starting states of the second motor and the fourth motor according to the real-time required torque and the real-time vehicle speed;

[0037] A real-time output torque control unit is used to control the real-time output torque of the first motor, the second motor, the third motor and the fourth motor according to the starting status of the first motor, the second motor, the third motor and the fourth motor.

[0038] In a third aspect, an embodiment of the present invention provides a driving torque distribution device for a vehicle, the driving torque distribution device comprising:

[0039] one or more processors;

[0040] a storage device for storing one or more programs,

[0041] When the one or more programs are executed by the one or more processors, the one or more processors implement the driving torque distribution method as described in the first aspect.

[0042] In a fourth aspect, an embodiment of the present invention provides a storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the driving torque distribution method as described in the first aspect.

[0043] The technical solution of the embodiment of the present invention can reduce the slow power response and the gear shift shock caused by the gear shift when the gearbox is working by first controlling the start of the first motor and the third motor respectively located in the two drive axles and connected to the constant speed ratio reducer when the vehicle is started, thereby ensuring the power and smoothness of the whole vehicle. By setting the start of the second motor and the fourth motor respectively located in the two drive axles and connected to the gearbox according to the real-time required torque after the vehicle is started and the real-time vehicle speed, and controlling the real-time output torque of the first motor, the second motor, the third motor and the fourth motor according to the starting status of the first motor, the second motor, the third motor and the fourth motor, the economy of the whole vehicle can be ensured, and the problem that the existing vehicle driving torque distribution method cannot take into account the power and economy of the whole vehicle can be solved.

[0044] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0046] Figure 1 A flow chart of a method for distributing driving torque of a vehicle provided by an embodiment of the present invention;

[0047] Figure 2 A flow chart of another method for distributing driving torque of a vehicle provided by an embodiment of the present invention;

[0048] Figure 3 A flowchart of another method for distributing driving torque of a vehicle provided by an embodiment of the present invention;

[0049] Figure 4 A flowchart of another method for distributing driving torque of a vehicle provided by an embodiment of the present invention;

[0050] Figure 5 A schematic structural diagram of a driving torque distribution device for a vehicle provided by an embodiment of the present invention;

[0051] Figure 6 A schematic structural diagram of a driving torque distribution device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0052] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0053] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices. The orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. is based on the orientation or positional relationship shown in the drawings, and is only used to illustrate the relative positional relationship between the components or components, and does not particularly limit the specific installation orientation of the components or components.

[0054] It should be noted that the vehicle in the embodiment of the present invention includes a first drive axle and a second drive axle, the first drive axle includes a first motor, a second motor, a first constant speed ratio reducer and a first gearbox, the second drive axle includes a third motor and a fourth motor, a second constant speed ratio reducer and a second gearbox, the first motor is connected to the first constant speed ratio reducer, the second motor is connected to the first gearbox, the third motor is connected to the second constant speed ratio reducer, and the fourth motor is connected to the second gearbox.

[0055] For example, each drive axle corresponds to a set of drive wheels, and each set of drive wheels includes a plurality of drive wheels located on both sides of the vehicle. The torque output by the motor on the drive axle is distributed to the drive wheels after being adjusted by a fixed speed ratio reducer or a gearbox, thereby controlling the rotation of the drive wheels.

[0056] Figure 1 A flow chart of a vehicle driving torque distribution method provided in an embodiment of the present invention. The vehicle driving torque distribution method in the embodiment of the present invention is applicable to the situation where the vehicle driving torque needs to be distributed. The vehicle driving torque distribution method can be executed by a vehicle driving torque distribution device, which can be implemented by software and / or hardware and is specifically configured in a driving torque distribution device. Figure 1 , the driving torque distribution method of the vehicle in the embodiment of the present invention includes:

[0057] S110 . When the vehicle is started, control the first motor and the third motor to start.

[0058] Exemplarily, the driving torque distribution device of the vehicle can be a vehicle controller in the vehicle, which is connected to the control end of the first motor and the third motor in communication, and can control the first motor connected to the first constant speed ratio reducer in the first drive axle to start, and the third motor connected to the second constant speed ratio reducer in the second drive axle to start when the vehicle starts. At this time, the driving wheel in the driving wheel group connected to the first constant speed ratio reducer will rotate under the action of the torque output by the first constant speed ratio reducer, and the driving wheel in the driving wheel group connected to the second constant speed ratio reducer will rotate under the action of the torque output by the second constant speed ratio reducer. By setting the first motor and the third motor located in the two drive axles and connected to the constant speed ratio reducer to start first when the vehicle starts, the power response delay and the gear shift shock caused by the gear shift when the gearbox is working can be reduced, and the power and smoothness of the whole vehicle can be ensured. Moreover, by setting the two motors of different drive axles to work at the same time, all the driving wheels of the vehicle can be rotated at the same time, and abnormal wear of the tires of the driving wheels can be avoided. It should be noted that abnormal wear refers to the wear caused by the rotation due to the traction of other driving wheels without torque drive.

[0059] S120: Obtain the real-time accelerator pedal opening and the real-time vehicle speed after the vehicle is started.

[0060] Exemplarily, the vehicle in the embodiment of the present invention is further provided with a pedal opening sensor capable of sensing the opening of the accelerator pedal and a speed sensor capable of sensing the vehicle speed. The vehicle controller is respectively connected to the pedal opening sensor and the speed sensor for communication, and can obtain the real-time accelerator pedal opening after the vehicle is started through the pedal opening sensor, and obtain the real-time vehicle speed after the vehicle is started through the speed sensor.

[0061] S130: Determine the real-time required torque according to the real-time accelerator pedal opening and the real-time vehicle speed.

[0062] It is understandable that after the vehicle is started, the accelerator pedal opening of the vehicle will continue to change under the control of the driver, and the real-time vehicle speed and the real-time required torque required to maintain the real-time vehicle speed will also change with the change of the accelerator pedal opening.

[0063] As a feasible implementation method, the vehicle controller can determine the real-time required torque according to the real-time accelerator pedal opening, the real-time vehicle speed and the following corresponding relationship:

[0064]

[0065] Among them, T req represents the real-time required torque, α represents the real-time accelerator pedal opening, T 1vx_max It represents the vehicle speed v x The maximum output torque of the first motor is T 2vx_max It represents the vehicle speed v x The maximum output torque of the second motor is T 3vx_max It represents the vehicle speed v x The maximum output torque of the third motor is T 4vx_max It represents the vehicle speed v x The maximum output torque of the fourth motor.

[0066] S140 . Control the starting states of the second motor and the fourth motor according to the real-time required torque and the real-time vehicle speed.

[0067] It is understandable that as the real-time required torque and the real-time vehicle speed increase, the real-time required torque may not be met by the first motor and the third motor alone. In order to avoid the situation where the efficiency of the first motor and the third motor is reduced or even damaged due to the increase in the real-time output torque of the first motor and the third motor, the vehicle controller will control the second motor and / or the fourth motor to start. It should be noted that the vehicle controller is also connected to the control end of the second motor and the fourth motor in communication, and can control the start-up state of the second motor and the fourth motor.

[0068] S150 , controlling the real-time output torques of the first motor, the second motor, the third motor, and the fourth motor according to the starting states of the first motor, the second motor, the third motor, and the fourth motor.

[0069] Exemplarily, the vehicle controller is also communicatively connected to the starting status feedback ends of the first motor, the second motor, the third motor and the fourth motor. The vehicle controller can obtain the starting status of the first motor, the second motor, the third motor and the fourth motor through the starting status feedback end, and control the real-time output torque of the first motor, the second motor, the third motor and the fourth motor according to the starting status of the first motor, the second motor, the third motor and the fourth motor.

[0070] The embodiment of the present invention controls the start of the first motor and the third motor respectively located in the two drive axles and connected to the constant speed ratio reducer when the vehicle is started, thereby reducing the slow power response and the gear shift shock caused by the gear shift when the gearbox is working, and ensuring the power and smoothness of the whole vehicle. By controlling the start of the second motor and the fourth motor respectively located in the two drive axles and connected to the gearbox according to the real-time required torque after the vehicle is started and the real-time vehicle speed, and controlling the real-time output torque of the first motor, the second motor, the third motor and the fourth motor according to the starting status of the first motor, the second motor, the third motor and the fourth motor, the economy of the whole vehicle can be ensured, and the problem that the existing vehicle driving torque distribution method cannot take into account the power and economy of the whole vehicle can be solved.

[0071] Figure 2 A flowchart of another method for distributing driving torque of a vehicle provided by an embodiment of the present invention, Figure 2 The embodiment shown in the figure illustrates how to control the start state of the second motor and the fourth motor according to the real-time required torque and the real-time vehicle speed. Figure 2 , the driving torque distribution method of the vehicle in the embodiment of the present invention includes:

[0072] S210: When the vehicle is started, control the first motor and the third motor to start.

[0073] S220: Obtain the real-time accelerator pedal opening and the real-time vehicle speed after the vehicle is started.

[0074] S230: Determine the real-time required torque according to the real-time accelerator pedal opening and the real-time vehicle speed.

[0075] S240. Determine a first real-time torque threshold, a second real-time torque threshold, and a third real-time torque threshold according to the real-time vehicle speed, wherein the first real-time torque threshold is smaller than the second real-time torque threshold, and the second real-time torque threshold is smaller than the third real-time torque threshold.

[0076] As a feasible implementation manner, a first real-time torque threshold, a second real-time torque threshold and a third real-time torque threshold are determined according to the real-time vehicle speed, including: determining the real-time rated torque of the first motor, the second motor, the third motor and the fourth motor according to the real-time vehicle speed; determining the first real-time torque threshold according to the real-time rated torque of the first motor and the third motor, and the speed ratio of the first constant speed ratio reducer and the second constant speed ratio reducer; determining the second real-time torque threshold according to the real-time rated torque of the first motor, the second motor and the third motor, the speed ratio of the first constant speed ratio reducer and the second constant speed ratio reducer, and the speed ratio of the first gearbox; determining the third real-time torque threshold according to the real-time rated torque of the first motor, the second motor, the third motor and the fourth motor, the speed ratio of the first constant speed ratio reducer and the second constant speed ratio reducer, and the speed ratio of the first gearbox and the second gearbox.

[0077] It is understandable that the real-time rated torque of the motor corresponding to different real-time vehicle speeds is different, and can be obtained by looking up the user manual of each motor and the relationship table between the real-time vehicle speed and the real-time rated torque of each motor. Exemplarily, the relationship table between the real-time vehicle speed and the real-time rated torque of the first motor, the second motor, the third motor and the fourth motor can be pre-stored in the memory of the vehicle, and the vehicle controller is connected to the memory in communication, and after obtaining the real-time vehicle speed, the real-time rated torque corresponding to each motor can be obtained from the above memory according to the real-time vehicle speed.

[0078] As a feasible implementation manner, the first real-time torque threshold value may be determined according to the real-time rated torques of the first motor and the third motor, the speed ratio of the first constant-speed ratio reducer and the second constant-speed ratio reducer, and the following corresponding relationship:

[0079] T 1y =i 1 ×T 1vx_e +i 3 ×T 3vx_e .

[0080] The second real-time torque threshold may be determined according to the real-time rated torques of the first motor, the second motor, and the third motor, the speed ratios of the first constant-speed ratio reducer and the second constant-speed ratio reducer, the speed ratio of the first gearbox, and the following corresponding relationship:

[0081] T 2y =i 1 ×T 1vx_e +i 2 ×T 2vx_e +i 3 ×T 3vx_e .

[0082] The third real-time torque threshold may be determined according to the real-time rated torques of the first motor, the second motor, the third motor, and the fourth motor, the speed ratio of the first constant-speed ratio reducer and the second constant-speed ratio reducer, the speed ratio of the first gearbox and the second gearbox, and the following corresponding relationship:

[0083] T 3y =i 1 ×T 1vx_e +i 2 ×T 2vx_e +i 3 ×T 3vx_e +i 4 ×T 4vx_e .

[0084] Among them, T 1y It represents the first real-time torque threshold, T 2y It represents the second real-time torque threshold, T 3y It represents the third real-time torque threshold, i 1 It represents the speed ratio of the first constant speed ratio reducer, i 2 It represents the speed ratio of the first gearbox, i 3 It represents the speed ratio of the second constant speed ratio reducer, i 4 It indicates the speed ratio of the second gearbox, T 1vx_e It represents the vehicle speed v x The real-time rated torque of the first motor at time T 2vx_e It represents the vehicle speed v x The real-time rated torque of the second motor at time T 3vx_e It represents the vehicle speed v x The real-time rated torque of the third motor, T 4vx_e It represents the vehicle speed v x The real-time rated torque of the fourth motor.

[0085] S251: If the real-time required torque is less than or equal to the first real-time torque threshold, the second motor and the fourth motor are controlled to stop.

[0086] Based on the above embodiments, it can be understood that if the real-time required torque is less than or equal to the first real-time torque threshold, it means that the power demand of the whole vehicle can be met by starting the first motor and the third motor, and there is no need to start the second motor and the fourth motor. For the economy of the whole vehicle, the vehicle controller will control the second motor and the fourth motor to shut down.

[0087] S252: If the real-time required torque is greater than the first real-time torque threshold and less than or equal to the second real-time torque threshold, the second motor is controlled to start and the fourth motor is controlled to stop.

[0088] If the real-time required torque is greater than the first real-time torque threshold and less than or equal to the second real-time torque threshold, it means that the real-time required torque will not be met even when the real-time output torques of the first motor and the third motor both reach the real-time rated torque, and only the second motor needs to be added to meet the required torque.

[0089] S253: If the real-time required torque is greater than the second real-time torque threshold, control the second motor and the fourth motor to start.

[0090] If the real-time required torque is greater than the second real-time torque threshold, it means that when the real-time output torques of the first motor, the second motor and the third motor all reach the real-time rated torque, the real-time required torque will not be met. At this time, the second motor and the fourth motor need to be added.

[0091] S260 , controlling the real-time output torque of the first motor, the second motor, the third motor, and the fourth motor according to the starting states of the first motor, the second motor, the third motor, and the fourth motor.

[0092] As a feasible implementation manner, the real-time output torque of the first motor, the second motor, the third motor and the fourth motor is controlled according to the starting status of the first motor, the second motor, the third motor and the fourth motor, including: controlling the real-time output torque of the first motor, the second motor, the third motor and the fourth motor according to the starting status of the first motor, the second motor, the third motor and the fourth motor, and a third real-time torque threshold.

[0093] When the real-time required torque is greater than the second real-time torque threshold, the vehicle controller has already ensured that the sum of the real-time output torques output by the first motor, the second motor, the third motor and the fourth motor meets the real-time required torque by controlling the first motor, the second motor, the third motor and the fourth motor to start. However, the real-time required torque in the embodiment of the present invention is still greater than the third real-time torque threshold, that is, when the real-time output torques of the first motor, the second motor, the third motor and the fourth motor all reach the real-time rated torque, the real-time required torque will not be met. In this case, in order to ensure that the real-time required torque can be met in various situations by allocating the real-time output torques of the first motor, the second motor, the third motor and the fourth motor, the vehicle controller needs to be able to control the real-time output torques of the first motor, the second motor, the third motor and the fourth motor according to the starting state of the first motor, the second motor, the third motor and the fourth motor, and the third real-time torque threshold.

[0094] Figure 3 A flowchart of another method for distributing driving torque of a vehicle provided by an embodiment of the present invention is shown. Figure 3The embodiment shown in the figure describes in detail how to control the real-time output torque of the first motor, the second motor, the third motor and the fourth motor according to the starting state of the first motor, the second motor, the third motor and the fourth motor and the third real-time torque threshold value, with reference to Figure 3 , the driving torque distribution method of the vehicle in the embodiment of the present invention includes:

[0095] S310: When the vehicle is started, control the first motor and the third motor to start.

[0096] S320: Obtain the real-time accelerator pedal opening and the real-time vehicle speed after the vehicle is started.

[0097] S330: Determine the real-time required torque according to the real-time accelerator pedal opening and the real-time vehicle speed.

[0098] S340. Determine a first real-time torque threshold, a second real-time torque threshold, and a third real-time torque threshold according to the real-time vehicle speed, wherein the first real-time torque threshold is smaller than the second real-time torque threshold, and the second real-time torque threshold is smaller than the third real-time torque threshold.

[0099] S351: If the real-time required torque is less than or equal to the first real-time torque threshold, the second motor and the fourth motor are controlled to stop.

[0100] S352: If the real-time required torque is greater than the first real-time torque threshold and less than or equal to the second real-time torque threshold, the second motor is controlled to start and the fourth motor is controlled to stop.

[0101] S353: If the real-time required torque is greater than the second real-time torque threshold, control the second motor and the fourth motor to start.

[0102] S361. If the first motor and the third motor are started, the real-time output torque of the first motor is determined according to the real-time required torque, the real-time rated torque of the first motor and the first real-time torque threshold, and the real-time output torque of the third motor is determined according to the real-time required torque, the real-time rated torque of the third motor and the first real-time torque threshold.

[0103] As a feasible implementation manner, the real-time output torque of the first motor may be determined according to the real-time required torque, the real-time rated torque of the first motor, the first real-time torque threshold, and the following corresponding relationship:

[0104]

[0105] Among them, T 1 It represents the real-time output torque of the first motor.

[0106] The real-time output torque of the third motor may be determined according to the real-time required torque, the real-time rated torque of the third motor, the first real-time torque threshold, and the following corresponding relationship:

[0107]

[0108] Among them, T 3 It represents the real-time output torque of the third motor.

[0109] S362. If the first motor, the second motor and the third motor are started, the real-time output torque of the first motor is controlled to be the real-time rated torque of the first motor, the real-time output torque of the third motor is controlled to be the real-time rated torque of the third motor, and the real-time output torque of the second motor is determined according to the real-time required torque, the first real-time torque threshold and the speed ratio of the first gearbox.

[0110] As a feasible implementation manner, the real-time output torque of the second motor is determined according to the real-time required torque, the first real-time torque threshold, the speed ratio of the first gearbox, and the following corresponding relationship:

[0111]

[0112] Among them, T 2 It represents the real-time output torque of the second motor.

[0113] S363. If the first motor, the second motor, the third motor and the fourth motor are all started, and the real-time required torque is less than or equal to the third real-time torque threshold, the real-time output torque of the first motor is controlled to be the real-time rated torque of the first motor, the real-time output torque of the second motor is controlled to be the real-time rated torque of the second motor, the real-time output torque of the third motor is controlled to be the real-time rated torque of the third motor, and the real-time output torque of the fourth motor is determined according to the real-time required torque, the second real-time torque threshold and the speed ratio of the second gearbox.

[0114] As a feasible implementation manner, the real-time output torque of the fourth motor may be determined according to the real-time required torque, the second real-time torque threshold, the speed ratio of the second gearbox, and the following corresponding relationship:

[0115]

[0116] Among them, T 4 It represents the real-time output torque of the fourth motor.

[0117] S364. If the first motor, the second motor, the third motor and the fourth motor are all started and the real-time required torque is greater than the third real-time torque threshold, the real-time output torque of the first motor, the second motor, the third motor and the fourth motor is determined according to the maximum output torque of the first motor, the second motor, the third motor and the fourth motor, the speed ratio of the first constant-speed ratio reducer and the second constant-speed ratio reducer, the speed ratio of the first gearbox and the second gearbox, and the real-time required torque.

[0118] As a feasible implementation manner, the real-time output torques of the first motor, the second motor, the third motor and the fourth motor can be determined according to the maximum output torques of the first motor, the second motor, the third motor and the fourth motor, the speed ratio of the first constant speed ratio reducer and the second constant speed ratio reducer, the speed ratio of the first gearbox and the second gearbox, the real-time required torque and the following corresponding relationship:

[0119]

[0120] It should be noted that, in order to avoid motor damage, the real-time output torques of the first motor, the second motor, the third motor and the fourth motor must also satisfy the following corresponding relationship:

[0121]

[0122] The embodiment of the present invention distributes torque according to the characteristic of the motor characteristic where the efficiency value is the highest in the area where the rated torque is located, thereby ensuring the economy of the whole vehicle while ensuring the power of the whole vehicle, thereby achieving a balance between the power and economy of the whole vehicle.

[0123] Figure 4 A flowchart of another method for distributing driving torque of a vehicle provided by an embodiment of the present invention is shown. Figure 4 The embodiment shown enriches the process of the vehicle's driving torque distribution method, referring to Figure 4 The driving torque distribution method of a vehicle in an embodiment of the present invention includes: S110, when the vehicle starts, controlling the first motor and the third motor to start.

[0124] S410: When the vehicle is started, control the first motor and the third motor to start.

[0125] S420: Obtain the real-time accelerator pedal opening and the real-time vehicle speed after the vehicle is started.

[0126] S430: Determine the real-time required torque according to the real-time accelerator pedal opening and the real-time vehicle speed.

[0127] S440: Control the starting states of the second motor and the fourth motor according to the real-time required torque and the real-time vehicle speed.

[0128] S450, controlling the real-time output torque of the first motor, the second motor, the third motor and the fourth motor according to the starting states of the first motor, the second motor, the third motor and the fourth motor;

[0129] S460. If the duration for which the vehicle meets the preset conditions is greater than or equal to the preset time, and the real-time output torque of the first motor is greater than or equal to the maximum preset torque in the preset torque range, the second motor, the third motor and the fourth motor are controlled to stop, wherein the preset conditions include the real-time vehicle speed meeting the preset vehicle speed range and the real-time required torque meeting the preset torque range.

[0130] Exemplarily, the preset speed range may be a common speed range of the vehicle, for example, a common speed range of a pure electric heavy truck is 60km / h to 90km / h. The preset torque range may be a common torque range of the vehicle, for example, a common torque range of a pure electric heavy truck is 2000Nm to 3000Nm. When the real-time speed of the pure electric heavy truck is within the common speed range of 60km / h to 90km / h, the real-time required torque of the pure electric heavy truck is within the common torque range of 2000Nm to 3000Nm for a period greater than or equal to 20s, and the real-time output torque of the first motor is greater than or equal to 3000Nm, it is determined that the driving state of the vehicle is stable at this time, and the real-time output torque of the first motor can meet the real-time required torque. In this way, in order to further improve the economy of the whole vehicle, the second motor, the third motor and the fourth motor can be controlled to stop, the first motor can be started, and the single motor mode is entered.

[0131] Optionally, after controlling the second motor, the third motor and the fourth motor to stop, the driving torque distribution method further includes: if the maximum output torque of the first motor is less than the real-time required torque, controlling the third motor to start.

[0132] If the maximum output torque of the first motor is less than the real-time required torque, it means that the single motor mode is not enough to meet the real-time required torque, and the third motor needs to be started to enter the multi-motor mode. After the third motor is started, steps S410-S460 can be continued.

[0133] Based on the same inventive concept, an embodiment of the present invention further provides a driving torque distribution device for a vehicle, Figure 5 A schematic diagram of a driving torque distribution device for a vehicle provided by an embodiment of the present invention, referring to Figure 5 , the driving torque distribution device of the vehicle in the embodiment of the present invention comprises:

[0134] The first starting control unit 510 is used to control the first motor and the third motor to start when the vehicle starts.

[0135] The information acquisition unit 520 is used to acquire the real-time accelerator pedal opening and the real-time vehicle speed after the vehicle is started.

[0136] The real-time required torque determination unit 530 is used to determine the real-time required torque according to the real-time accelerator pedal opening and the real-time vehicle speed.

[0137] The second starting control unit 540 is used to control the starting states of the second motor and the fourth motor according to the real-time required torque and the real-time vehicle speed.

[0138] The real-time output torque control unit 550 is used to control the real-time output torque of the first motor, the second motor, the third motor and the fourth motor according to the starting states of the first motor, the second motor, the third motor and the fourth motor.

[0139] Optionally, the driving torque distribution device in the embodiment of the present invention further includes a single motor mode starting unit and a multi-motor mode recovery unit. The single motor mode starting unit can be used to control the second motor, the third motor and the fourth motor to stop if the duration of the vehicle meeting the preset condition is greater than or equal to the preset time, and the real-time output torque of the first motor is greater than or equal to the maximum preset torque of the preset torque range, wherein the preset condition includes the real-time vehicle speed meeting the preset vehicle speed range and the real-time required torque meeting the preset torque range. The multi-motor mode recovery unit can be used to control the third motor to start if the maximum output torque of the first motor is less than the real-time required torque after the second motor, the third motor and the fourth motor are stopped.

[0140] The driving torque distribution device for a vehicle provided in the embodiment of the present invention can execute the driving torque distribution method for a vehicle provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0141] Figure 6 A schematic diagram of a drive torque distribution device 600 that can be used to implement an embodiment of the present invention is shown, and the drive torque distribution device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The drive torque distribution device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0142] like Figure 6As shown, the driving torque distribution device 600 includes at least one processor 610, and a memory connected to the at least one processor 610 in communication, such as a read-only memory (ROM) 620, a random access memory (RAM) 630, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 610 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 620 or the computer program loaded from the storage unit 680 to the random access memory (RAM) 630. In the RAM 630, various programs and data required for the operation of the driving torque distribution device 600 can also be stored. The processor 610, the ROM 620, and the RAM 630 are connected to each other through a bus 640. An input / output (I / O) interface 650 is also connected to the bus 640.

[0143] A number of components in the driving torque distribution device 600 are connected to the I / O interface 650, including: an input unit 660, such as a keyboard, a mouse, etc.; an output unit 670, such as various types of displays, speakers, etc.; a storage unit 680, such as a disk, an optical disk, etc.; and a communication unit 690, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 690 allows the driving torque distribution device 600 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0144] The processor 610 may be a variety of general and / or dedicated processing components with processing and computing capabilities. Some examples of the processor 610 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 610 performs the various methods and processes described above, such as a driving torque distribution method for a vehicle.

[0145] In some embodiments, the driving torque distribution method of the vehicle can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 680. In some embodiments, part or all of the computer program can be loaded and / or installed on the driving torque distribution device 600 via the ROM 620 and / or the communication unit 690. When the computer program is loaded into the RAM 630 and executed by the processor 610, one or more steps of the driving torque distribution method of the vehicle described above can be performed. Alternatively, in other embodiments, the processor 610 can be configured to execute the driving torque distribution method of the vehicle by any other appropriate means (e.g., by means of firmware).

[0146] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0147] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0148] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0149] To provide interaction with a user, the systems and techniques described herein may be implemented on a drive torque distribution device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) through which a user can provide input to the drive torque distribution device. Other types of devices may also be used to provide interaction with a user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0150] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0151] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0152] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0153] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for distributing driving torque of a vehicle, wherein the vehicle comprises a first drive axle and a second drive axle, wherein the first drive axle comprises a first motor, a second motor, a first constant speed ratio reducer and a first gearbox, wherein the second drive axle comprises a third motor and a fourth motor, a second constant speed ratio reducer and a second gearbox, wherein the first motor is connected to the first constant speed ratio reducer, the second motor is connected to the first gearbox, the third motor is connected to the second constant speed ratio reducer, and the fourth motor is connected to the second gearbox, wherein: The driving torque distribution method comprises: When the vehicle is started, controlling the first motor and the third motor to start; Obtaining the real-time accelerator pedal opening and the real-time vehicle speed after the vehicle is started; Determining a real-time required torque according to the real-time accelerator pedal opening and the real-time vehicle speed; controlling the start-up states of the second motor and the fourth motor according to the real-time required torque and the real-time vehicle speed; Real-time output torques of the first motor, the second motor, the third motor, and the fourth motor are controlled according to a start-up state of the first motor, the second motor, the third motor, and the fourth motor.

2. The driving torque distribution method according to claim 1, characterized in that: Controlling the start state of the second motor and the fourth motor according to the real-time required torque and the real-time vehicle speed includes: Determine a first real-time torque threshold, a second real-time torque threshold, and a third real-time torque threshold according to the real-time vehicle speed, wherein the first real-time torque threshold is less than the second real-time torque threshold, and the second real-time torque threshold is less than the third real-time torque threshold; If the real-time required torque is less than or equal to the first real-time torque threshold, controlling the second motor and the fourth motor to stop; If the real-time required torque is greater than the first real-time torque threshold and less than or equal to the second real-time torque threshold, the second motor is controlled to start and the fourth motor is controlled to stop; If the immediate required torque is greater than the second immediate torque threshold, the second motor and the fourth motor are controlled to start.

3. The driving torque distribution method according to claim 2, characterized in that: Controlling the real-time output torques of the first motor, the second motor, the third motor, and the fourth motor according to the starting states of the first motor, the second motor, the third motor, and the fourth motor includes: The real-time output torques of the first motor, the second motor, the third motor and the fourth motor are controlled according to the start-up states of the first motor, the second motor, the third motor and the fourth motor and the third real-time torque threshold.

4. The driving torque distribution method according to claim 3, characterized in that: Controlling the real-time output torques of the first motor, the second motor, the third motor, and the fourth motor according to the start-up states of the first motor, the second motor, the third motor, and the fourth motor and the third real-time torque threshold comprises: If the first motor and the third motor are started, determining the real-time output torque of the first motor according to the real-time required torque, the real-time rated torque of the first motor and the first real-time torque threshold, and determining the real-time output torque of the third motor according to the real-time required torque, the real-time rated torque of the third motor and the first real-time torque threshold; If the first motor, the second motor and the third motor are started, the real-time output torque of the first motor is controlled to be the real-time rated torque of the first motor, the real-time output torque of the third motor is controlled to be the real-time rated torque of the third motor, and the real-time output torque of the second motor is determined according to the real-time required torque, the first real-time torque threshold and the speed ratio of the first gearbox; If the first motor, the second motor, the third motor and the fourth motor are all started, and the real-time required torque is less than or equal to the third real-time torque threshold, the real-time output torque of the first motor is controlled to be the real-time rated torque of the first motor, the real-time output torque of the second motor is controlled to be the real-time rated torque of the second motor, the real-time output torque of the third motor is controlled to be the real-time rated torque of the third motor, and the real-time output torque of the fourth motor is determined according to the real-time required torque, the second real-time torque threshold and the speed ratio of the second gearbox; If the first motor, the second motor, the third motor and the fourth motor are all started and the real-time required torque is greater than the third real-time torque threshold, the real-time output torques of the first motor, the second motor, the third motor and the fourth motor are determined according to the maximum output torques of the first motor, the second motor, the third motor and the fourth motor, the speed ratio of the first constant-speed ratio reducer and the second constant-speed ratio reducer, the speed ratio of the first gearbox and the second gearbox, and the real-time required torque.

5. The driving torque distribution method according to claim 2, characterized in that: Determining a first real-time torque threshold, a second real-time torque threshold, and a third real-time torque threshold according to the real-time vehicle speed includes: determining the real-time rated torques of the first motor, the second motor, the third motor, and the fourth motor according to the real-time vehicle speed; determining the first real-time torque threshold value according to the real-time rated torques of the first motor and the third motor, and the speed ratio of the first constant-speed ratio reducer and the second constant-speed ratio reducer; determining the second real-time torque threshold value according to the real-time rated torques of the first motor, the second motor and the third motor, the speed ratios of the first constant-speed ratio reducer and the second constant-speed ratio reducer, and the speed ratio of the first gearbox; The third real-time torque threshold is determined according to the real-time rated torques of the first motor, the second motor, the third motor and the fourth motor, the speed ratios of the first constant-speed ratio reducer and the second constant-speed ratio reducer, and the speed ratios of the first gearbox and the second gearbox.

6. The driving torque distribution method according to claim 1, characterized in that: The driving torque distribution method further includes: If the duration for which the vehicle meets the preset conditions is greater than or equal to the preset time, and the real-time output torque of the first motor is greater than or equal to the maximum preset torque in the preset torque range, the second motor, the third motor and the fourth motor are controlled to stop, wherein the preset conditions include that the real-time vehicle speed meets the preset vehicle speed range and the real-time required torque meets the preset torque range.

7. The driving torque distribution method according to claim 6, characterized in that: After controlling the second motor, the third motor, and the fourth motor to stop, the driving torque distribution method further includes: If the maximum output torque of the first motor is less than the real-time required torque, the third motor is controlled to start.

8. A driving torque distribution device for a vehicle, used to execute the driving torque distribution method as claimed in any one of claims 1 to 7, characterized in that: The driving torque distribution device comprises: A first starting control unit, used for controlling the first motor and the third motor to start when the vehicle starts; a real-time required torque determination unit, configured to determine the real-time required torque according to the real-time accelerator pedal opening after the vehicle is started; A real-time vehicle speed acquisition unit, used to acquire the real-time vehicle speed after the vehicle is started; a second starting control unit, configured to control the starting states of the second motor and the fourth motor according to the real-time required torque and the real-time vehicle speed; A real-time output torque control unit is used to control the real-time output torque of the first motor, the second motor, the third motor and the fourth motor according to the starting status of the first motor, the second motor, the third motor and the fourth motor.

9. A driving torque distribution device for a vehicle, characterized in that: The driving torque distribution device comprises: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the driving torque distribution method as described in any one of claims 1-7.

10. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the driving torque distribution method as described in any one of claims 1 to 7 is implemented.

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