Torque distribution method and device, equipment and storage medium

Abstract

The embodiment of the invention relates to the technical field of vehicle control, and discloses a torque distribution method, device and equipment and a storage medium, and the method comprises the steps: determining the current total demand torque of a vehicle based on the driving state of the vehicle and control information input by a driver; determining a candidate torque distribution mode matched with the total demand torque, wherein the candidate torque distribution mode represents a possible distribution mode of the total demand torque among all motors of the vehicle; and selecting a target torque distribution mode from the candidate torque distribution modes based on the current available power of the motor of the vehicle and the motor efficiency of each candidate torque distribution mode, so that the motor drives the vehicle according to the target torque distribution mode. By means of the technical scheme, the motor efficiency can be maximized while the power requirement is met, and therefore the energy efficiency and performance of the whole vehicle are improved.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of vehicle control technology, and specifically to a torque distribution method, device, equipment and storage medium. Background Art

[0002] In vehicles, electric motors are usually used as driving sources. They can convert electrical energy into mechanical energy to drive the vehicle forward. Each electric motor has its own torque output characteristics, which depend on factors such as the design, power, and speed of the motor.

[0003] When the vehicle needs to output total torque, this torque will be distributed between two or more motors according to a certain strategy. In order to achieve more efficient energy utilization and better handling stability, multi-motor vehicles usually adopt a dynamic torque distribution strategy. This strategy adjusts the torque output of these motors in real time according to the real-time status of the vehicle (such as speed, acceleration, steering angle, etc.) and the driver's input.

[0004] There is an urgent need to provide a torque distribution method that can find a balance between power and economy. Summary of the invention

[0005] In view of the above problems, an embodiment of the present invention provides a torque distribution method, device, equipment and storage medium for solving the problem in the prior art that it is difficult to optimize the motor efficiency while meeting the vehicle power requirements.

[0006] According to one aspect of an embodiment of the present invention, a torque distribution method is provided, the method comprising:

[0007] Determining a current total required torque of the vehicle based on a driving state of the vehicle and control information input by a driver;

[0008] determining a candidate torque distribution mode that matches the total required torque, the candidate torque distribution mode representing a possible distribution mode of the total required torque among the motors of the vehicle;

[0009] Based on the current available motor power of the vehicle and the motor efficiency of each of the candidate torque distribution modes, a target torque distribution mode is selected from the candidate torque distribution modes, so that the motor drives the vehicle according to the target torque distribution mode.

[0010] According to another aspect of an embodiment of the present invention, there is provided a torque distribution device, comprising:

[0011] A first determination module, configured to determine a current total required torque of the vehicle based on a driving state of the vehicle and control information input by a driver;

[0012] A second determination module is used to determine a candidate torque distribution mode that matches the total required torque, wherein the candidate torque distribution mode represents a possible distribution mode of the total required torque among the motors of the vehicle;

[0013] The selection module is used to select a target torque distribution method from the candidate torque distribution methods based on the current motor available power of the vehicle and the motor efficiency of each candidate torque distribution method, so that the motor drives the vehicle according to the target torque distribution method.

[0014] According to another aspect of an embodiment of the present invention, there is provided a torque distribution device, comprising: a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other through the communication bus;

[0015] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the operation of the torque distribution method as described above.

[0016] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, wherein the storage medium stores at least one executable instruction, wherein the executable instruction enables the torque distribution device / apparatus to perform the operation of the torque distribution method as described above.

[0017] The embodiment of the present invention can determine the current total required torque based on the driving state of the vehicle and the control information input by the driver. When selecting the target torque distribution method, the motor efficiency of each candidate torque distribution method and the current motor available power of the vehicle are considered, which means that the distribution method selected can maximize the efficiency of the motor while meeting the total required torque and ensuring that the motor capacity is not exceeded. The embodiment of the present invention can maximize the motor efficiency while meeting the power demand, thereby improving the energy efficiency and performance of the entire vehicle.

[0018] The above description is only an overview of the technical solution of the embodiment of the present invention. In order to more clearly understand the technical means of the embodiment of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present invention. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0020] Figure 1 A schematic diagram showing a flow chart of a first embodiment of a torque distribution method provided by the present invention;

[0021] Figure 2 A schematic flow chart showing a second embodiment of the torque distribution method provided by the present invention is shown;

[0022] Figure 3 A schematic diagram of a mapping table provided by the present invention is shown;

[0023] Figure 4 A schematic diagram showing the process of the torque distribution method provided by the present invention is shown;

[0024] Figure 5 A schematic structural diagram of a first embodiment of a torque distribution device provided by the present invention is shown;

[0025] Figure 6 A schematic diagram showing the structure of an embodiment of the torque distribution device provided by the present invention

[0026] Figure 7 A schematic structural diagram of an embodiment of a vehicle provided by the present invention is shown. DETAILED DESCRIPTION

[0027] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0028] Figure 1 FIG. 1 is a flow chart showing a first embodiment of a torque distribution method according to the present invention, which can be executed by a motor controller. Figure 1 As shown, the method comprises the following steps:

[0029] Step 110: Determine the current total required torque of the vehicle based on the driving state of the vehicle and the control information input by the driver.

[0030] The driver's control information can include information such as pedal position and steering wheel angle, which reflect the driver's intention. The vehicle's driving status can include speed, acceleration, etc. These parameters help assess the vehicle's power requirements in the current environment.

[0031] Based on the control information input by the driver and the vehicle driving status, the vehicle's current total required torque can be determined.

[0032] Step 120 : Determine a candidate torque distribution method that matches the total torque requirement, where the candidate torque distribution method represents a possible distribution method of the total torque requirement among the motors of the vehicle.

[0033] In an embodiment of the present invention, a set of candidate torque distribution methods can be generated based on the total required torque, and these distribution methods indicate how to distribute the torque between the motors under the premise of meeting the total required torque. For example, in a dual-motor system, possible distribution methods include the front and rear motors each bearing 50% of the torque.

[0034] Step 130: Based on the current available motor power of the vehicle and the motor efficiency of each candidate torque distribution method, a target torque distribution method is selected from the candidate torque distribution methods, so that the motor drives the vehicle according to the target torque distribution method.

[0035] In an embodiment of the present invention, the current available motor power of each motor can be determined to ensure that the selected target torque distribution method is within the available power range of each motor. For each candidate torque distribution method, the corresponding motor efficiency is calculated. Based on the motor efficiency and the available motor power, the optimal target torque distribution method is selected from the candidate torque distribution methods, with the goal of selecting a distribution method that can meet the total required torque and achieve the highest efficiency under the current conditions. Once the target torque distribution method is selected, the motor controller will instruct each motor to output torque according to the distribution method.

[0036] The torque distribution method provided by the embodiment of the present invention can determine the current total required torque based on the driving state of the vehicle and the control information input by the driver. When selecting the target torque distribution method, the motor efficiency of each candidate torque distribution method and the current motor available power of the vehicle are considered, which means that the distribution method selected can maximize the efficiency of the motor while meeting the total required torque and ensuring that the motor capacity is not exceeded. The embodiment of the present invention can maximize the motor efficiency while meeting the power demand, thereby improving the energy efficiency and performance of the whole vehicle.

[0037] Figure 2 FIG. 2 is a flow chart showing another embodiment of the torque distribution method of the present invention, which can be executed by a motor controller. Figure 2 As shown, the method comprises the following steps:

[0038] Step 210: Determine the current total required torque of the vehicle based on the driving state of the vehicle and the control information input by the driver.

[0039] Step 220 : Determine a candidate torque distribution method that matches the total torque requirement, where the candidate torque distribution method represents a possible distribution method of the total torque requirement among the motors of the vehicle.

[0040] Step 230 : Compare the motor efficiencies of the candidate torque distribution modes.

[0041] In the embodiment of the present invention, the motor efficiencies of various candidate torque distribution modes may be compared.

[0042] In an optional manner, comparing the motor efficiencies of the candidate torque distribution modes may specifically include the following steps:

[0043] Determine a target speed interval in which the motor speed of the candidate torque distribution mode is located among a plurality of predefined speed intervals;

[0044] Determine a target power interval in which the motor energy conversion power of the candidate torque distribution mode is located among a plurality of predefined power intervals;

[0045] Determine motor efficiency of candidate torque distribution modes based on the target speed range and the target power range;

[0046] Compare the motor efficiency of each candidate torque distribution method.

[0047] The motor speed of the candidate torque distribution method refers to the motor speed under the candidate torque distribution method; similarly, the motor energy conversion power of the candidate torque distribution method refers to the motor energy conversion power under the candidate torque distribution method.

[0048] In this embodiment, multiple speed ranges can be predefined, such as a first speed range, a second speed range, and a third speed range; multiple power ranges can be predefined, such as a first power range, a second power range, a third power range, and a fourth power range.

[0049] For each candidate torque distribution method, the motor speed and motor energy conversion power of each motor can be calculated according to the torque allocated to each motor. According to the calculated motor speed, the predefined speed range is determined, and according to the calculated motor energy conversion power, the predefined power range is determined.

[0050] In an optional manner, the vehicle stores a mapping relationship between a pre-calibrated speed range, a power range, and a motor efficiency. Based on the target speed range and the target power range, determining the motor efficiency of the candidate torque distribution mode may specifically include the following steps:

[0051] Query the mapping relationship between the speed range, the power range and the motor efficiency, and determine the target motor efficiency that matches the target speed range and the target power range;

[0052] The motor efficiency of the candidate torque distribution method is determined based on the target motor efficiency corresponding to each motor in the candidate torque distribution method.

[0053] In this embodiment, the vehicle stores a mapping table between speed range, power range and motor efficiency. Each motor can correspond to a different mapping table, which reflects the efficiency performance of the motor under different speed and power combinations. The mapping table is obtained through laboratory testing or simulation, and reflects the efficiency of the motor under different working conditions. Figure 3 The figure shows a schematic diagram of the mapping table provided by the present invention. The motor efficiency value can be directly obtained from the mapping table by looking up the table.

[0054] When calibrating the mapping relationship between the speed range, power range and motor efficiency, the efficiency data of the motor under different speed and power conditions can be collected, and the speed is used as the horizontal axis, the power is used as the vertical axis, and the efficiency is used as the data value in the table to form a two-dimensional table, in which each cell represents the efficiency under a specific speed and power combination. According to the efficiency value, the table can be divided into multiple blocks, each block represents an efficiency range, and the efficiency values ​​in the same efficiency range are not much different. Define the speed range and power range for each efficiency block, and create a mapping relationship between the speed range, power range and motor efficiency based on the divided efficiency blocks.

[0055] Furthermore, a first score can be assigned to each speed range to evaluate the efficiency performance of the motor in the speed range; a second score can be assigned to each power range to evaluate the efficiency performance of the motor in the power range, and the efficiency score of each combination is calculated based on the first score of the speed range and the second score of the power range. There can be multiple calculation methods. For example, different weights can be assigned to the speed range and the power range according to their relative importance to efficiency. When calculating the efficiency score, the first score and the second score can be weighted averaged. Based on the divided efficiency blocks and the calculated efficiency scores, a mapping relationship between the speed range, the power range and the motor efficiency is created.

[0056] Interval positioning reduces the reliance on precise values ​​and can quickly obtain results through simple operations such as table lookup. This reduces computational complexity and improves the system's responsiveness. Using intervals can better handle measurement errors and data fluctuations. Since sensor data may be uncertain, interval positioning can provide more stable performance.

[0057] For each motor in the candidate torque distribution mode, the corresponding target motor efficiency is obtained. Based on the target motor efficiencies corresponding to each motor in the candidate torque distribution mode, the overall motor efficiency of the candidate torque distribution mode is determined.

[0058] In an optional manner, based on the target motor efficiencies corresponding to the motors in the candidate torque distribution mode, determining the motor efficiency of the candidate torque distribution mode may specifically include the following steps:

[0059] The target motor efficiencies corresponding to the motors in the candidate torque distribution mode are summed to obtain the motor efficiency of the candidate torque distribution mode.

[0060] In this implementation, the overall motor efficiency of the candidate torque distribution modes may be calculated by summing up.

[0061] Step 240: If the motor energy conversion power of the candidate torque distribution method with the highest motor efficiency does not exceed the current motor available power of the vehicle, the candidate torque distribution method with the highest motor efficiency is determined as the target torque distribution method, so that the motor drives the vehicle according to the target torque distribution method.

[0062] For the candidate torque distribution method with the highest motor efficiency, for each motor, calculate its motor energy conversion power under the candidate torque distribution method, evaluate the motor available power of the motor under current conditions, and compare the calculated motor energy conversion power with its available power. If the motor energy conversion power of all motors does not exceed the motor available power, then the candidate torque distribution method is considered feasible and this candidate torque distribution method can be determined as the target torque distribution method.

[0063] In an optional manner, the torque distribution method of the present invention may further include the following steps:

[0064] If the motor energy conversion power of the candidate torque distribution method with the highest motor efficiency exceeds the vehicle's current motor available power, a candidate torque distribution method with a motor energy conversion power not exceeding the vehicle's current motor available power is selected from the candidate torque distribution methods as the alternative torque distribution method, and the alternative torque distribution method with the highest motor efficiency is determined as the target torque distribution method.

[0065] In this embodiment, if there is a motor whose motor energy conversion power exceeds the motor available power, the distribution methods in which the motor energy conversion power does not exceed the motor available power are screened out from all candidate torque distribution methods. These distribution methods are regarded as alternative torque distribution methods. Among the alternative torque distribution methods, the motor with the highest efficiency is selected as the target torque distribution method.

[0066] The torque distribution method of the present invention is intended to optimize the performance of the motor in different scenarios, including two main scenarios: driving the vehicle and energy recovery. By applying the torque distribution method of the present invention in these two scenarios, it not only helps to extend the vehicle's cruising range, but also improves energy utilization efficiency, reduces energy consumption and environmental impact.

[0067] Reference Figure 4As shown, it is a schematic diagram of the process of the torque distribution method provided by the present invention, and whether to use the distribution method with the highest motor efficiency is determined based on whether it exceeds the available power of the motor. The available power of the motor of the present invention can be driving available power or recovery available power. The driving available power refers to the effective power that the motor can output to drive the vehicle forward during the driving process. The recovery available power refers to the power that can be converted into electrical energy and stored in the battery by the energy recovery system (such as the motor reversing as a generator) during the braking or deceleration process of the vehicle.

[0068] Furthermore, if there are multiple candidate torque distribution methods that can achieve maximum motor efficiency, a target motor can be determined, and the candidate torque distribution method that can distribute the maximum torque to the motor is selected as the target torque distribution method. The target motor can be the motor with the best performance, or in a vehicle with front and rear motor configurations, the target motor can be the rear motor.

[0069] There are multiple candidate torque distribution methods with the highest motor efficiency, and a method of specifying the maximum motor output torque can be selected from these distribution methods as the target torque distribution method.

[0070] In an optional manner, the torque distribution method of the present invention may further include the following steps:

[0071] Based on the vehicle's current available battery power and motor temperature, determine the vehicle's current available motor power.

[0072] In this implementation, the current available power of the motor may be calculated based on the available power of the battery and the temperature of the motor.

[0073] The torque distribution method provided by the embodiment of the present invention can determine the current total required torque based on the driving state of the vehicle and the control information input by the driver. When selecting the target torque distribution method, the motor efficiency of each candidate torque distribution method and the current motor available power of the vehicle are considered, which means that the distribution method selected can maximize the efficiency of the motor while meeting the total required torque and ensuring that the motor capacity is not exceeded. The embodiment of the present invention can maximize the motor efficiency while meeting the power demand, thereby improving the energy efficiency and performance of the whole vehicle.

[0074] Figure 5 FIG. 2 is a schematic diagram showing the structure of an embodiment of the torque distribution device of the present invention. Figure 5 As shown, the device 500 includes: a first determination module 510 , a second determination module 520 and a selection module 530 .

[0075] A first determination module, configured to determine a current total required torque of the vehicle based on a driving state of the vehicle and control information input by a driver;

[0076] a second determination module, configured to determine a candidate torque distribution mode that matches the total required torque, the candidate torque distribution mode representing a possible distribution mode of the total required torque among the motors of the vehicle;

[0077] The selection module is used to select a target torque distribution method from the candidate torque distribution methods based on the current available motor power of the vehicle and the motor efficiency of each candidate torque distribution method, so that the motor drives the vehicle according to the target torque distribution method.

[0078] In an optional manner, the selection module is specifically used to:

[0079] Comparing the motor efficiency of each candidate torque distribution method;

[0080] If the motor energy conversion power of the candidate torque distribution method with the highest motor efficiency does not exceed the current motor available power of the vehicle, the candidate torque distribution method with the highest motor efficiency is determined as the target torque distribution method.

[0081] In an optional manner, the selection module is specifically used to:

[0082] Determine a target speed interval in which the motor speed of the candidate torque distribution mode is located among a plurality of predefined speed intervals;

[0083] Determine a target power interval in which the motor energy conversion power of the candidate torque distribution mode is located among a plurality of predefined power intervals;

[0084] Determine motor efficiency of candidate torque distribution modes based on the target speed range and the target power range;

[0085] Compare the motor efficiency of each candidate torque distribution method.

[0086] In an optional manner, the vehicle stores a mapping relationship between a pre-calibrated speed range, a power range and a motor efficiency, and the selection module is specifically used for:

[0087] Query the mapping relationship between the speed range, the power range and the motor efficiency, and determine the target motor efficiency that matches the target speed range and the target power range;

[0088] The motor efficiency of the candidate torque distribution method is determined based on the target motor efficiency corresponding to each motor in the candidate torque distribution method.

[0089] In an optional manner, the selection module is specifically used to:

[0090] The target motor efficiencies corresponding to the motors in the candidate torque distribution mode are summed to obtain the motor efficiency of the candidate torque distribution mode.

[0091] In an optional manner, the selection module is specifically used to:

[0092] If the motor energy conversion power of the candidate torque distribution method with the highest motor efficiency exceeds the vehicle's current motor available power, a candidate torque distribution method with a motor energy conversion power not exceeding the vehicle's current motor available power is selected from the candidate torque distribution methods as the alternative torque distribution method, and the alternative torque distribution method with the highest motor efficiency is determined as the target torque distribution method.

[0093] In an optional manner, the torque distribution device is further used to:

[0094] Based on the vehicle's current available battery power and motor temperature, determine the vehicle's current available motor power.

[0095] In the embodiment of the present invention, the current total required torque can be determined based on the driving state of the vehicle and the control information input by the driver. When selecting the target torque distribution method, the motor efficiency of each candidate torque distribution method and the current motor available power of the vehicle are considered, which means that the distribution method selected can maximize the efficiency of the motor while meeting the total required torque and ensuring that the motor capacity is not exceeded. The embodiment of the present invention can maximize the motor efficiency while meeting the power demand, thereby improving the energy efficiency and performance of the entire vehicle.

[0096] Figure 6 The schematic diagram of the structure of the embodiment of the torque distribution device of the present invention is shown. The specific embodiment of the present invention does not limit the specific implementation of the torque distribution device.

[0097] like Figure 6 As shown, the torque distribution device may include: a processor (processor) 602 , a communications interface (Communications Interface) 604 , a memory (memory) 606 , and a communication bus 608 .

[0098] The processor 602, the communication interface 604, and the memory 606 communicate with each other via a communication bus 608. The communication interface 604 is used to communicate with other devices such as a client or other server network elements. The processor 602 is used to execute a program 610, which can specifically execute the relevant steps in the above-mentioned torque distribution method embodiment.

[0099] Specifically, the program 610 may include program code including computer executable instructions.

[0100] The processor 602 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiment of the present invention. The one or more processors included in the torque distribution device may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0101] The memory 606 is used to store the program 610. The memory 606 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0102] The program 610 may be specifically called by the processor 602 to enable the torque distribution device to perform the following operations:

[0103] Determine the current total required torque of the vehicle based on the driving state of the vehicle and the control information input by the driver;

[0104] Determine a candidate torque distribution method that matches the total torque requirement, where the candidate torque distribution method represents a possible distribution method of the total torque requirement among the motors of the vehicle;

[0105] Based on the current available motor power of the vehicle and the motor efficiency of each candidate torque distribution method, a target torque distribution method is selected from the candidate torque distribution methods so that the motor drives the vehicle according to the target torque distribution method.

[0106] In an optional manner, the program 610 is called by the processor 602 to enable the torque distribution device to perform the following operations:

[0107] Comparing the motor efficiency of each candidate torque distribution method;

[0108] If the motor energy conversion power of the candidate torque distribution method with the highest motor efficiency does not exceed the current motor available power of the vehicle, the candidate torque distribution method with the highest motor efficiency is determined as the target torque distribution method.

[0109] In an optional manner, the program 610 is called by the processor 602 to enable the torque distribution device to perform the following operations:

[0110] Determine a target speed interval in which the motor speed of the candidate torque distribution mode is located among a plurality of predefined speed intervals;

[0111] Determine a target power interval in which the motor energy conversion power of the candidate torque distribution mode is located among a plurality of predefined power intervals;

[0112] Determine motor efficiency of candidate torque distribution modes based on the target speed range and the target power range;

[0113] Compare the motor efficiency of each candidate torque distribution method.

[0114] In an optional manner, the vehicle stores a pre-calibrated mapping relationship between the speed range, the power range and the motor efficiency, and the program 610 is called by the processor 602 to enable the torque distribution device to perform the following operations:

[0115] Query the mapping relationship between the speed range, the power range and the motor efficiency, and determine the target motor efficiency that matches the target speed range and the target power range;

[0116] The motor efficiency of the candidate torque distribution method is determined based on the target motor efficiency corresponding to each motor in the candidate torque distribution method.

[0117] In an optional manner, the program 610 is called by the processor 602 to enable the torque distribution device to perform the following operations:

[0118] The target motor efficiencies corresponding to the motors in the candidate torque distribution mode are summed to obtain the motor efficiency of the candidate torque distribution mode.

[0119] In an optional manner, the program 610 is called by the processor 602 to enable the torque distribution device to perform the following operations:

[0120] If the motor energy conversion power of the candidate torque distribution method with the highest motor efficiency exceeds the vehicle's current motor available power, a candidate torque distribution method with a motor energy conversion power not exceeding the vehicle's current motor available power is selected from the candidate torque distribution methods as the alternative torque distribution method, and the alternative torque distribution method with the highest motor efficiency is determined as the target torque distribution method.

[0121] In an optional manner, the program 610 is called by the processor 602 to enable the torque distribution device to perform the following operations:

[0122] Based on the vehicle's current available battery power and motor temperature, determine the vehicle's current available motor power.

[0123] In the embodiment of the present invention, the current total required torque can be determined based on the driving state of the vehicle and the control information input by the driver. When selecting the target torque distribution method, the motor efficiency of each candidate torque distribution method and the current motor available power of the vehicle are considered, which means that the distribution method selected can maximize the efficiency of the motor while meeting the total required torque and ensuring that the motor capacity is not exceeded. The embodiment of the present invention can maximize the motor efficiency while meeting the power demand, thereby improving the energy efficiency and performance of the entire vehicle.

[0124] Figure 7 FIG. 2 shows a schematic diagram of the structure of an embodiment of a vehicle of the present invention. Figure 7 As shown, the vehicle 700 includes: a sensor, a camera, one or more processors and a communication interface;

[0125] The sensor is used to obtain the vehicle's driving status and the control information input by the driver;

[0126] The camera is used to capture the vehicle's surroundings;

[0127] The processor is used to execute the steps in the above torque distribution method embodiment.

[0128] In the embodiment of the present invention, the current total required torque can be determined based on the driving state of the vehicle and the control information input by the driver. When selecting the target torque distribution method, the motor efficiency of each candidate torque distribution method and the current motor available power of the vehicle are considered, which means that the distribution method selected can maximize the efficiency of the motor while meeting the total required torque and ensuring that the motor capacity is not exceeded. The embodiment of the present invention can maximize the motor efficiency while meeting the power demand, thereby improving the energy efficiency and performance of the entire vehicle.

[0129] An embodiment of the present invention provides a computer-readable storage medium storing at least one executable instruction. When the executable instruction is executed on a torque distribution device / apparatus, the torque distribution device / apparatus executes the torque distribution method in any of the above method embodiments.

[0130] The executable instructions may be specifically used to enable the torque distribution device / apparatus to perform the following operations:

[0131] Determine the current total required torque of the vehicle based on the driving state of the vehicle and the control information input by the driver;

[0132] Determine a candidate torque distribution method that matches the total torque requirement, where the candidate torque distribution method represents a possible distribution method of the total torque requirement among the motors of the vehicle;

[0133] Based on the current available motor power of the vehicle and the motor efficiency of each candidate torque distribution method, a target torque distribution method is selected from the candidate torque distribution methods so that the motor drives the vehicle according to the target torque distribution method.

[0134] In an optional manner, the executable instructions cause the torque distribution device / apparatus to perform the following operations:

[0135] Comparing the motor efficiency of each candidate torque distribution method;

[0136] If the motor energy conversion power of the candidate torque distribution method with the highest motor efficiency does not exceed the current motor available power of the vehicle, the candidate torque distribution method with the highest motor efficiency is determined as the target torque distribution method.

[0137] In an optional manner, the executable instructions cause the torque distribution device / apparatus to perform the following operations:

[0138] Determine a target speed interval in which the motor speed of the candidate torque distribution mode is located among a plurality of predefined speed intervals;

[0139] Determine a target power interval in which the motor energy conversion power of the candidate torque distribution mode is located among a plurality of predefined power intervals;

[0140] Determine motor efficiency of candidate torque distribution modes based on the target speed range and the target power range;

[0141] Compare the motor efficiency of each candidate torque distribution method.

[0142] In an optional manner, the vehicle stores a mapping relationship between a pre-calibrated speed range, a power range and motor efficiency, and the executable instruction enables the torque distribution device / apparatus to perform the following operations:

[0143] Query the mapping relationship between the speed range, the power range and the motor efficiency, and determine the target motor efficiency that matches the target speed range and the target power range;

[0144] The motor efficiency of the candidate torque distribution method is determined based on the target motor efficiency corresponding to each motor in the candidate torque distribution method.

[0145] In an optional manner, the executable instructions cause the torque distribution device / apparatus to perform the following operations:

[0146] The target motor efficiencies corresponding to the motors in the candidate torque distribution mode are summed to obtain the motor efficiency of the candidate torque distribution mode.

[0147] In an optional manner, the executable instructions cause the torque distribution device / apparatus to perform the following operations:

[0148] If the motor energy conversion power of the candidate torque distribution method with the highest motor efficiency exceeds the vehicle's current motor available power, a candidate torque distribution method with a motor energy conversion power not exceeding the vehicle's current motor available power is selected from the candidate torque distribution methods as the alternative torque distribution method, and the alternative torque distribution method with the highest motor efficiency is determined as the target torque distribution method.

[0149] In an optional manner, the executable instructions cause the torque distribution device / apparatus to perform the following operations:

[0150] Based on the vehicle's current available battery power and motor temperature, determine the vehicle's current available motor power.

[0151] In the embodiment of the present invention, the current total required torque can be determined based on the driving state of the vehicle and the control information input by the driver. When selecting the target torque distribution method, the motor efficiency of each candidate torque distribution method and the current motor available power of the vehicle are considered, which means that the distribution method selected can maximize the efficiency of the motor while meeting the total required torque and ensuring that the motor capacity is not exceeded. The embodiment of the present invention can maximize the motor efficiency while meeting the power demand, thereby improving the energy efficiency and performance of the entire vehicle.

[0152] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system or other device. In addition, the embodiments of the present invention are not directed to any particular programming language.

[0153] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. Similarly, in order to simplify the present invention and help understand one or more of the various inventive aspects, in the above description of exemplary embodiments of the present invention, the various features of the embodiments of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. Wherein, the claims that follow the specific embodiment are hereby expressly incorporated into the specific embodiment, wherein each claim itself is a separate embodiment of the present invention.

[0154] Those skilled in the art will appreciate that the modules in the devices in the embodiments may be adaptively changed and arranged in one or more devices different from the embodiments. The modules or units or components in the embodiments may be combined into one module or unit or component, and further may be divided into a plurality of submodules or subunits or subcomponents. Except that at least some of such features and / or processes or units are mutually exclusive.

[0155] It should be noted that the above embodiments illustrate the present invention rather than limit it, and that those skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets shall not be construed as a limitation on the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention may be implemented by means of hardware comprising a number of different elements and by means of a suitably programmed computer. In a unit claim enumerating a number of devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words may be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be understood as limitations on the order of execution.

Claims

1. A torque distribution method, characterized in that: The method comprises: Determining a current total required torque of the vehicle based on a driving state of the vehicle and control information input by a driver; determining a candidate torque distribution mode that matches the total required torque, the candidate torque distribution mode representing a possible distribution mode of the total required torque among the motors of the vehicle; Based on the current available motor power of the vehicle and the motor efficiency of each of the candidate torque distribution modes, a target torque distribution mode is selected from the candidate torque distribution modes, so that the motor drives the vehicle according to the target torque distribution mode.

2. The method according to claim 1, characterized in that The selecting a target torque distribution mode from the candidate torque distribution modes based on the current motor available power of the vehicle and the motor efficiency of each of the candidate torque distribution modes comprises: comparing the motor efficiencies of the candidate torque distribution modes; If the motor energy conversion power of the candidate torque distribution method with the highest motor efficiency does not exceed the current motor available power of the vehicle, the candidate torque distribution method with the highest motor efficiency is determined as the target torque distribution method.

3. The method according to claim 2, characterized in that The comparing the motor efficiencies of the candidate torque distribution modes includes: Determine, from among a plurality of predefined speed intervals, a target speed interval in which the motor speed of the candidate torque distribution mode is located; Determine, among a plurality of predefined power intervals, a target power interval in which the motor energy conversion power of the candidate torque distribution mode is located; Determining the motor efficiency of the candidate torque distribution mode based on the target speed range and the target power range; The motor efficiencies of the candidate torque distribution modes are compared.

4. The method according to claim 3, characterized in that The vehicle stores a mapping relationship between a pre-calibrated speed range, a power range, and a motor efficiency, and determining the motor efficiency of the candidate torque distribution mode based on the target speed range and the target power range includes: Querying the mapping relationship between the speed range, the power range and the motor efficiency, and determining a target motor efficiency matching the target speed range and the target power range; The motor efficiency of the candidate torque distribution method is determined based on the target motor efficiency corresponding to each motor in the candidate torque distribution method.

5. The method according to claim 4, characterized in that The determining the motor efficiency of the candidate torque distribution mode based on the target motor efficiency corresponding to each motor in the candidate torque distribution mode includes: The target motor efficiencies corresponding to the motors in the candidate torque distribution mode are summed to obtain the motor efficiency of the candidate torque distribution mode.

6. The method according to claim 2, characterized in that The method further comprises: If the motor energy conversion power of the candidate torque distribution method with the highest motor efficiency exceeds the current motor available power of the vehicle, a candidate torque distribution method with a motor energy conversion power not exceeding the current motor available power of the vehicle is selected from the candidate torque distribution methods as the alternative torque distribution method, and the alternative torque distribution method with the highest motor efficiency is determined as the target torque distribution method.

7. The method according to any one of claims 1 to 6, characterized in that: The method further comprises: Based on the current available power of the battery of the vehicle and the temperature of the motor, the current available power of the motor of the vehicle is determined.

8. A torque distribution device, characterized in that: The device comprises: A first determination module, configured to determine a current total required torque of the vehicle based on a driving state of the vehicle and control information input by a driver; A second determination module is used to determine a candidate torque distribution mode that matches the total required torque, wherein the candidate torque distribution mode represents a possible distribution mode of the total required torque among the motors of the vehicle; The selection module is used to select a target torque distribution method from the candidate torque distribution methods based on the current motor available power of the vehicle and the motor efficiency of each candidate torque distribution method, so that the motor drives the vehicle according to the target torque distribution method.

9. A torque distribution device, characterized in that: include: A processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform the operation of the torque distribution method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The storage medium stores at least one executable instruction, and when the executable instruction is executed on the torque distribution device / apparatus, the torque distribution device / apparatus performs the operation of the torque distribution method as described in any one of claims 1-7.

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