A method, device, equipment and medium for distributing driving torque of a vehicle

Abstract

The application discloses a driving torque distribution method, device, equipment and medium of a vehicle. The driving torque distribution method comprises the following steps: when the vehicle starts, starting a first motor connected with a first constant-ratio reducer in a first drive axle and a third motor connected with a second constant-ratio reducer in a second drive axle; determining a real-time demand torque according to a real-time accelerator pedal opening degree after the vehicle starts; obtaining a real-time vehicle speed after the vehicle starts; controlling a starting state of a second motor connected with a first gearbox in the first drive axle and a fourth motor connected with a second gearbox in the second drive axle according to the real-time demand torque and the real-time vehicle speed; and controlling 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. The above driving torque distribution method can take into account the power performance and the economy of the vehicle.

Description

Technical Field

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

[0002] Pure electric heavy-duty trucks require high torque, so multi-motor drive systems are typically used, taking into account factors such as motor cost, layout space, and weight. Multi-motor vehicles typically have power and economy modes. The power mode prioritizes acceleration and gradeability, allowing for some compromise in efficiency. The economy mode optimizes energy consumption, allowing for some compromise in overall vehicle power and ride comfort.

[0003] The medium torque distribution method for multi-motor drive corresponds to the power mode. Because all motors start working simultaneously, there is no torque response delay caused by motor switching, resulting in a rapid power response. Multi-motor drive torque distribution is achieved by establishing mathematical equations based on state equations, system constraints, and system boundary conditions, and performing complex calculations such as iteration and derivation to find the optimal solution. This torque distribution method corresponds to the economy mode, as it always ensures the lowest output power of the electric drive system, thereby optimizing energy consumption. Existing vehicle drive torque distribution methods cannot balance the vehicle's power and economy. 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 entire vehicle.

[0005] In a first aspect, an embodiment of the present invention provides a driving torque distribution method for a vehicle, wherein the vehicle 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, the driving torque distribution method includes:

[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 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 a starting state 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] 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, 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 immediate output torques of the first, second, third and fourth motors are controlled according to a start-up state of the first, second, third and fourth motors and the third immediate 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 includes:

[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 ratios of the first constant-speed ratio reducer and the second constant-speed ratio reducer, the speed ratios of the first gearbox and the second gearbox, and the real-time required torque.

[0023] Optionally, determining the first real-time torque threshold, the second real-time torque threshold, and the 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 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 real-time rated torques of the first, second, third, and fourth motors, speed ratios of the first and second constant-speed ratio reducers, and speed ratios of the first and second gearboxes.

[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 of 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.

[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, configured to execute the driving torque distribution method according to the first aspect, the driving torque distribution device comprising:

[0033] a first starting control unit, configured to control the first motor and the third motor to start when the vehicle starts;

[0034] a real-time required torque determining 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, configured to acquire the real-time vehicle speed after the vehicle is started;

[0036] a second starting control unit, configured to control a starting state 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 application provides a drive torque distribution device of a vehicle, the drive torque distribution device comprising:

[0039] one or more processors;

[0040] a storage device configured to store 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 drive torque distribution method according to the first aspect.

[0042] In a fourth aspect, an embodiment of the present application provides a storage medium having stored thereon a computer program, the computer program being executed by a processor to implement the drive torque distribution method according to the first aspect.

[0043] The technical solution of the embodiment of the present application can reduce power response delay and gear shifting impact caused by gear shifting when the gearbox is working, and can ensure the power performance and smoothness of the vehicle, by controlling the start of the first motor and the third motor respectively located in the two drive axles and connected with the constant ratio reducer when the vehicle starts, controlling the start of the second motor and the fourth motor respectively located in the two drive axles and connected with the gearbox according to the real-time demand torque and the real-time vehicle speed after the vehicle starts, and controlling the real-time output torque of the first motor, the second motor, the third motor and the fourth motor according to the start state of the first motor, the second motor, the third motor and the fourth motor. The embodiment of the present application can ensure the economy of the vehicle, and solve the problem that the existing drive torque distribution method of the vehicle cannot balance the power performance and economy of the vehicle.

[0044] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0046] Figure 1 A flowchart of a drive torque distribution method of a vehicle provided by an embodiment of the present application;

[0047] Figure 2 A flowchart of another drive torque distribution method of a vehicle provided by an embodiment of the present application;

[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 solutions of the present invention, the technical solutions 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 embodiments described 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 making creative efforts 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 numbers used in this way are interchangeable 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 variations thereof 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 are inherent to these processes, methods, products or devices. The directions or positional relationships indicated by the terms "upper", "lower", "left", "right", etc. are based on the directions or positional relationships shown in the drawings and are only used to illustrate the relative positional relationships between the various components or components, and do not particularly limit the specific installation directions of the various 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, each of which includes multiple drive wheels located on either side of the vehicle. The torque output by the motor on the drive axle is regulated by a fixed-speed reducer or a transmission and then distributed to the drive wheels, thereby controlling their rotation.

[0056] Figure 1 This is a flow chart of a vehicle driving torque distribution method provided by an embodiment of the present invention. The vehicle driving torque distribution method in the embodiment of the present invention is applicable to situations 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 using software and / or hardware and specifically configured in a driving torque distribution device. Figure 1 The driving torque distribution method of a vehicle in an embodiment of the present invention includes:

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

[0058] Exemplarily, the vehicle's drive torque distribution device can be a vehicle controller in the vehicle, which is communicatively connected to the control terminals of the first and third motors. When the vehicle starts, the first motor connected to the first constant-speed reducer in the first drive axle and the third motor connected to the second constant-speed reducer can be controlled to start first. At this point, the drive wheels in the drive wheel set connected to the first constant-speed reducer rotate under the torque output by the first constant-speed reducer, while the drive wheels in the drive wheel set connected to the second constant-speed reducer rotate under the torque output by the second constant-speed reducer. By controlling the first and third motors, located in the two drive axles and connected to the constant-speed reducers, to start first when the vehicle starts, sluggish power response and shift shock caused by gear shifting during transmission operation can be reduced, thereby ensuring the vehicle's overall power and ride quality. Furthermore, by activating the two motors on different drive axles simultaneously, all of the vehicle's drive wheels can rotate simultaneously, thereby preventing abnormal wear on the drive wheel tires. It should be noted that abnormal wear refers to wear caused by the tires rotating due to the traction of other drive wheels without the vehicle's own torque drive.

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

[0060] For example, the vehicle in this embodiment of the present invention is further equipped with a pedal position sensor capable of sensing the position of the accelerator pedal, and a speed sensor capable of sensing the vehicle's speed. A vehicle controller is communicatively coupled to the pedal position sensor and the speed sensor, respectively, and can obtain the real-time accelerator pedal position after the vehicle is started via the pedal position sensor, and the real-time vehicle speed after the vehicle is started via 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 changes in the accelerator pedal opening.

[0063] As a feasible implementation method, the vehicle controller can determine the real-time required torque based on 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 torque demand and real-time vehicle speed increase, the first and third motors alone may not be able to meet the real-time torque demand. To avoid a situation where the increase in the real-time output torque of the first and third motors could reduce the efficiency of the first and third motors or even damage them, the vehicle controller will control the activation of the second and / or fourth motors. It should be noted that the vehicle controller is also in communication with the control terminals of the second and fourth motors and can control the activation status of the second and fourth motors.

[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 end 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 power response delay and the gear shift shock caused by the gear shift when the gearbox is working, thereby ensuring the power and smoothness of the entire 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 and real-time vehicle speed after the vehicle is started, 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 entire vehicle can be ensured, thereby solving the problem that the existing vehicle driving torque distribution method cannot take into account the power and economy of the entire vehicle.

[0071] Figure 2 This is a flow chart 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-up 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 a vehicle in an embodiment of the present invention includes:

[0072] S210 : When the vehicle starts, 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, the first real-time torque threshold, the second real-time torque threshold and the 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 understood that the real-time rated torques of the motors corresponding to different real-time vehicle speeds are different, and can be obtained by consulting the user manuals of the respective motors and a table showing the relationship between the real-time vehicle speed and the real-time rated torque of each motor. For example, the table showing the relationship between the real-time vehicle speed and the real-time rated torque of the first, second, third, and fourth motors can be pre-stored in a memory of the vehicle, and the vehicle controller can be in communication with the memory. After obtaining the real-time vehicle speed, the real-time rated torque corresponding to each motor can be obtained from the memory based on the real-time vehicle speed.

[0078] As a feasible implementation manner, the first real-time torque threshold 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 =i1×T 1vx_e +i3×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 =i1×T 1vx_e +i2×T 2vx_e +i3×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 ratios of the first constant-speed ratio reducer and the second constant-speed ratio reducer, the speed ratios of the first gearbox and the second gearbox, and the following corresponding relationship:

[0083] T 3y=i1×T 1vx_e +i2×T 2vx_e +i3×T 3vx_e +i4×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 represents the third real-time torque threshold, i1 represents the speed ratio of the first constant-speed ratio reducer, i2 represents the speed ratio of the first gearbox, i3 represents the speed ratio of the second constant-speed ratio reducer, i4 represents 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, T 2vx_e It represents the vehicle speed v x The real-time rated torque of the second motor, T 3vx_e It represents the vehicle speed v x The real-time rated torque of the third motor is 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, control the second motor and the fourth motor to stop.

[0086] Based on the above embodiment, 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 entire 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 entire 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, control the second motor to start and control the fourth motor 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 when the real-time output torques of the first motor and the third motor both reach the real-time rated torque, the real-time required torque will not be met. 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 even if 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 : Control 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.

[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 torque demand is greater than the second real-time torque threshold, the vehicle controller has already controlled the first motor, the second motor, the third motor, and the fourth motor to start, ensuring 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 torque demand. However, in embodiments of the present invention, there are also situations where the real-time torque demand is greater than the third real-time torque threshold. That is, even if 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 torque demand will not be met. In this case, to ensure that the real-time torque demand can be met in all 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 must be able to control the real-time output torques of the first motor, the second motor, the third motor, and the fourth motor based on the start-up status 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 3 The embodiment shown in FIG. 1 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. Figure 3 The driving torque distribution method of a vehicle in an embodiment of the present invention includes:

[0095] S310: When the vehicle starts, 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 based on 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 based on 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] Wherein, T1 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, T3 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, T2 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, T4 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 ratios of the first constant-speed ratio reducer and the second constant-speed ratio reducer, the speed ratios 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 vehicle while ensuring the power of the vehicle, thereby achieving a balance between the power and economy of the 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 for 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 starts, 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 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;

[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 of 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] For example, the preset speed range can be the vehicle's commonly used speed range, such as the commonly used speed range of a pure electric heavy-duty truck of 60 km / h to 90 km / h. The preset torque range can be the vehicle's commonly used torque range, such as the commonly used torque range of a pure electric heavy-duty truck of 2000 Nm to 3000 Nm. When the pure electric heavy-duty truck's real-time speed is within the commonly used speed range of 60 km / h to 90 km / h, the pure electric heavy-duty truck's real-time required torque is within the commonly used torque range of 2000 Nm to 3000 Nm for a period greater than or equal to 20 seconds, and the real-time output torque of the first motor is greater than or equal to 3000 Nm, it is determined that the vehicle's driving state 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, to further improve the economy of the entire vehicle, the second motor, the third motor, and the fourth motor can be controlled to stop, and the first motor can be started, entering single-motor mode.

[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 torque requirement, it means that the single-motor mode is insufficient to meet the real-time torque requirement. In this case, 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 according to an embodiment of the present invention is provided. Figure 5 , the driving torque distribution device of the vehicle in the embodiment of the present invention includes:

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

[0135] The information acquisition unit 520 is used to obtain 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 configured 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 status of the first motor, the second motor, the third motor and the fourth motor.

[0139] Optionally, the drive torque distribution device in an 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 may be configured to control the second, third, and fourth motors to shut down if the duration for which the vehicle meets preset conditions is greater than or equal to a preset time, and the real-time output torque of the first motor is greater than or equal to a maximum preset torque within a preset torque range, wherein the preset conditions include the real-time vehicle speed meeting a preset speed range and the real-time required torque meeting a preset torque range. The multi-motor mode recovery unit may be configured to control the third motor to start after the second, third, and fourth motors are shut down if the maximum output torque of the first motor is less than the real-time required torque.

[0140] The driving torque distribution device for a vehicle provided in an 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 functional modules and beneficial effects corresponding to the execution method.

[0141] Figure 6 A schematic block diagram of a drive torque distribution device 600 that can be used to implement an embodiment of the present invention is shown. The drive torque distribution device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, 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 assistants, cellular phones, smartphones, 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 claimed herein.

[0142] like Figure 6 As shown, the driving torque distribution device 600 includes at least one processor 610 and a memory, such as a read-only memory (ROM) 620, a random access memory (RAM) 630, etc., which is communicatively connected to the at least one processor 610. The memory stores a computer program that can be executed by the at least one processor. 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. Various programs and data required for the operation of the driving torque distribution device 600 can also be stored in the RAM 630. The processor 610, ROM 620, and RAM 630 are connected to each other via a bus 640. An input / output (I / O) interface 650 is also connected to the bus 640.

[0143] Multiple 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 magnetic 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 via a computer network such as the Internet and / or various telecommunication networks.

[0144] The processor 610 may be any general-purpose and / or specialized processing component with processing and computing capabilities. Examples of the processor 610 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors for running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 610 executes the various methods and processes described above, such as the vehicle's drive torque distribution method.

[0145] In some embodiments, the driving torque distribution method for 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 for the vehicle described above can be performed. Alternatively, in other embodiments, the processor 610 can be configured to execute the driving torque distribution method for the vehicle by any other appropriate means (e.g., by means of firmware).

[0146] Various embodiments of the systems and techniques described 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), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes 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, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

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

[0149] To provide user interaction, the systems and techniques described herein can 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 the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the drive torque distribution device. Other types of devices can also be used to provide user interaction; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0150] The systems and techniques described herein can be implemented in a computing system that includes back-end 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 front-end components (e.g., a user computer with a graphical user interface or 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 back-end components, middleware components, or front-end components. The components of the system can 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 clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0152] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0153] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A method for distributing driving torque of a vehicle, wherein the vehicle 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, characterized in that: The driving torque distribution method includes: When the vehicle is started, controlling the first motor and the third motor to start; Obtaining the real-time accelerator pedal opening and 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 a starting state 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-up states of the second motor and the fourth motor according to the real-time required torque and the real-time vehicle speed includes: 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, 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 immediate output torques of the first, second, third and fourth motors are controlled according to a start-up state of the first, second, third and fourth motors and the third immediate 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 includes: 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 ratios of the first constant-speed ratio reducer and the second constant-speed ratio reducer, the speed ratios 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 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 real-time rated torques of the first, second, third, and fourth motors, speed ratios of the first and second constant-speed ratio reducers, and speed ratios of the first and second gearboxes.

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 of 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.

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 according to any one of claims 1 to 7, characterized in that: The driving torque distribution device includes: a first starting control unit, configured to control the first motor and the third motor to start when the vehicle starts; a real-time required torque determining 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, configured to acquire the real-time vehicle speed after the vehicle is started; a second starting control unit, configured to control a starting state 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 includes: 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 according to any one of claims 1 to 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 according to any one of claims 1 to 7 is implemented.

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