Torque distribution method and device, vehicle and equipment

Abstract

The invention relates to a torque distribution method and device, a vehicle and equipment, and relates to the technical field of vehicles. The method comprises the steps that under the condition that a vehicle is in a slipping state, first required torque is obtained; determining a limited torque of the slip shaft based on at least one of the first demand torque, the second demand torque and the first distribution torque; the limiting torque is used for limiting torque output of the slip shaft; the second required torque is the torque required by the vehicle when the slip shaft slips; the slip shaft is used for representing a shaft which slips in the driving shaft of the vehicle; the first distribution torque is the torque distributed to the slip shaft when the slip shaft slips; the driveshaft is torque-distributed based on the first demand torque and the limited torque. Therefore, the appropriate limiting torque can be determined, excessive limiting or excessive output of the slipping shaft is avoided, and therefore it is guaranteed that the vehicle can be effectively disengaged from the slipping state in time.

Description

Technical Field

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

[0002] When a vehicle is driving on a low-adhesion road (such as an icy or muddy road), it is common for the drive shaft to slip. Slipping will lead to power waste and reduced vehicle stability, making it impossible for the vehicle to fully exert its power performance.

[0003] In order to deal with this problem, one related technology proposes to generate a slip error coefficient by calculating the deviation between the actual slip rate of the front and rear axles and the theoretical slip rate, and dynamically adjust the front and rear axle torque distribution coefficient using the Proportional Integral Differential (PID) algorithm, while limiting the first distribution torque. Another related technology proposes to calculate the torque distribution coefficient with the best system efficiency and distribute it to the front and rear axles for torque output.

[0004] However, the solutions in the related art can only alleviate vehicle skidding to a certain extent. Summary of the invention

[0005] The present application provides a torque distribution method, device, vehicle and equipment to at least solve the technical problem that it is difficult to eliminate vehicle slippage in the related art. The technical solution of the present application is as follows:

[0006] According to the first aspect provided by the present application, a torque distribution method is provided, including: when the vehicle is in a slipping state, obtaining a first required torque; determining a limiting torque of the slipping shaft based on at least one of the first required torque, the second required torque and the first distributed torque; the limiting torque is used to limit the torque output of the slipping shaft; the second required torque is the torque required by the vehicle when the slipping shaft slips; the slipping shaft is used to characterize the shaft in the vehicle's drive shaft that slips; the first distributed torque is the torque distributed to the slipping shaft when the slipping shaft slips; and torque is distributed to the drive shaft based on the first required torque and the limiting torque.

[0007] According to the above-mentioned technical means, the present application can determine the limiting torque that meets the vehicle power demand and the physical limit of slipping by considering at least one of the first required torque (the vehicle's required torque at the current moment), the second required torque (the vehicle's required torque at the moment of slipping) and the first allocated torque (the torque allocated to the slipping shaft at the moment of slipping) when the vehicle is in a slipping state, thereby avoiding excessive restriction or excessive output on the slipping shaft, thereby ensuring that the vehicle can promptly and effectively exit the slipping state.

[0008] In one possible manner, when the vehicle is a dual-drive axle vehicle, the limiting torque of the slipping shaft is determined based on at least one of the first required torque, the second required torque and the first distributed torque, including: determining the safety torque of the slipping shaft based on the first distributed torque; the safety torque is used to characterize the torque boundary value of the slipping shaft in a critical state where slipping is about to occur; and determining the limiting torque based on the safety torque and the relationship between the first required torque and the second required torque.

[0009] According to the above technical means, the present application can dynamically calculate the limiting torque on the slipping shaft based on the size relationship between the first required torque and the second required torque, thereby accurately controlling the torque output of the slipping shaft and eliminating the vehicle slipping phenomenon.

[0010] In one possible method, the limiting torque is determined based on the safety torque and the relationship between the first required torque and the second required torque, including: when the first required torque is less than the second required torque, determining the torque limiting coefficient of the slipping shaft based on the ratio of the safety torque to the second required torque; determining the limiting torque based on the first required torque and the torque limiting coefficient.

[0011] According to the above technical means, the present application can determine the limiting torque based on the torque limiting coefficient and the first required torque when the first required torque is less than the second required torque, so as to prevent the slipping shaft from continuing to slip due to excessive torque output.

[0012] In one possible manner, the limiting torque is determined based on the safety torque and the magnitude relationship between the first demand torque and the second demand torque, including: when the first demand torque is greater than or equal to the second demand torque, determining the safety torque as the limiting torque.

[0013] According to the above technical means, the present application can use the torque boundary value of the slipping shaft in the critical state where slipping is about to occur as the limiting torque, which can ensure that the torque on the slipping shaft will not exceed this boundary value, thereby effectively eliminating the vehicle slipping phenomenon.

[0014] In one possible manner, when the vehicle is a single drive axle vehicle, the limiting torque of the slipping shaft is determined based on at least one of the first required torque, the second required torque and the first distributed torque, including: determining the safety torque of the slipping shaft based on the first distributed torque; and determining the limiting torque based on the safety torque.

[0015] According to the above technical means, the present application can determine the torque boundary value of the slipping shaft in the critical state where slipping is about to occur, and use the torque boundary value of the slipping shaft in the critical state where slipping is about to occur as the limiting torque to ensure that the torque on the slipping shaft will not exceed this boundary value, thereby effectively preventing the occurrence of slipping.

[0016] In one possible method, the safety torque of the slipping shaft is determined based on the first distributed torque, including: obtaining the ground adhesion coefficient of the current driving road surface and the driving state of the vehicle; the driving state is used to characterize the driving state or braking state of the vehicle; determining a safety factor that matches the combination of the ground adhesion coefficient and the driving state; and determining the safety torque based on the first distributed torque and the safety factor.

[0017] According to the above technical means, the present application can accurately evaluate the vehicle's driving ability under current road conditions by obtaining the ground adhesion coefficient of the current driving road (the magnitude of the friction between the vehicle tires and the road surface), and thus determine the safe torque based on these ground adhesion coefficients and driving conditions, ensuring that the vehicle's power distribution is more reasonable and effectively eliminating vehicle slippage.

[0018] In one possible manner, an actual wheel speed signal and a reference wheel speed signal of the drive shaft are obtained; the reference wheel speed signal is determined based on the first distributed torque; based on the actual wheel speed signal and the reference wheel speed signal, it is determined whether the drive shaft is a slipping shaft.

[0019] According to the above technical means, the present application can determine whether the vehicle is slipping through the actual wheel speed signal and the reference wheel speed signal, avoiding the problem of large errors in judging whether the vehicle is slipping through the slip rate in the related art, and improving the accuracy of judging whether the vehicle's drive shaft is slipping.

[0020] In one possible method, based on the actual wheel speed signal and the reference wheel speed signal, it is determined whether the drive shaft is a slipping shaft, including: when the wheel speed difference of the drive shaft is greater than the wheel speed threshold for a duration greater than the duration threshold, the drive shaft is determined to be a slipping shaft; the wheel speed difference is the difference between the actual wheel speed signal and the reference wheel speed signal.

[0021] According to the above technical means, the present application can effectively avoid misjudgment caused by instantaneous wheel speed fluctuations or sensor errors through wheel speed thresholds and duration thresholds, and improve the accuracy of judging whether the vehicle's drive shaft is slipping.

[0022] In one possible manner, after the slip of the slipping shaft is eliminated, a second distributed torque and an updated limiting torque are obtained; the updated limiting torque is obtained by gradually updating the limiting torque based on a preset step size; when the updated limiting torque is less than the second distributed torque, torque is distributed to the slipping shaft based on the updated limiting torque.

[0023] In a possible manner, when the updated limit torque is greater than or equal to the second distributed torque, the slip shaft performs torque distribution based on the second distributed torque.

[0024] According to the above-mentioned technical means, after the slip is eliminated, the present application can distribute torque according to the updated limit torque and the third required torque to avoid the wheels slipping again due to sudden excessive torque, thereby enhancing the vehicle's driving stability, and by gradually updating the limit torque, the vehicle's torque output can be adjusted more smoothly to avoid the impact caused by sudden torque changes.

[0025] According to the second aspect provided by the present application, a torque distribution device is provided, including: an acquisition unit, a determination unit and a distribution unit; the acquisition unit is used to acquire a first required torque when the vehicle is in a slipping state; the determination unit is used to determine the limiting torque of the slipping shaft based on at least one of the first required torque, the second required torque and the first distributed torque; the limiting torque is used to limit the torque output of the slipping shaft; the second required torque is the torque required by the vehicle when the slipping shaft slips; the slipping shaft is used to characterize the shaft in the vehicle's drive shaft that slips; the first distributed torque is the torque distributed to the slipping shaft when the slipping shaft slips; the distribution unit is used to distribute torque to the drive shaft based on the first required torque and the limiting torque.

[0026] In one possible manner, the determination unit is specifically used to: determine the safety torque of the slipping shaft based on the first distributed torque; the safety torque is used to characterize the torque boundary value of the slipping shaft under a critical state where slipping is about to occur; determine the limiting torque based on the safety torque and the size relationship between the first required torque and the second required torque.

[0027] In one possible manner, the determination unit is specifically used to: determine the torque limit coefficient of the slipping shaft based on the ratio of the safety torque to the second required torque when the first required torque is less than the second required torque; and determine the limiting torque based on the first required torque and the torque limit coefficient.

[0028] In a possible manner, the determination unit is specifically configured to: determine the safety torque as the limit torque when the first required torque is greater than or equal to the second required torque.

[0029] In a possible manner, the determination unit is specifically used to: determine a safety torque of the slipping shaft based on the first distributed torque; and determine a limiting torque based on the safety torque.

[0030] In one possible manner, the determination unit is specifically used to: obtain the ground adhesion coefficient of the current driving road surface and the driving state of the vehicle; the driving state is used to characterize the driving state or braking state of the vehicle; determine a safety factor that matches the combination of the ground adhesion coefficient and the driving state; and determine a safety torque based on the first distributed torque and the safety factor.

[0031] In one possible manner, the determination unit is also used to: obtain an actual wheel speed signal and a reference wheel speed signal of the drive shaft; the reference wheel speed signal is determined based on the first distributed torque; and determine whether the drive shaft is a slipping shaft based on the actual wheel speed signal and the reference wheel speed signal.

[0032] In one possible manner, the determination unit is specifically used to: determine that the drive shaft is a slipping shaft when the wheel speed difference of the drive shaft is greater than the wheel speed threshold for a duration greater than the duration threshold; the wheel speed difference is the difference between the actual wheel speed signal and the reference wheel speed signal.

[0033] In one possible embodiment, the device also includes: a processing unit; a processing unit, used to obtain a second distributed torque and an updated limiting torque after the slip of the slipping shaft is eliminated; the updated limiting torque is obtained by gradually updating the limiting torque based on a preset step size; and a distribution unit, also used to distribute torque to the slipping shaft based on the updated limiting torque when the updated limiting torque is less than the second distributed torque.

[0034] In a possible manner, the distribution unit is further configured to distribute the torque based on the second distributed torque slip shaft when the updated limit torque is greater than or equal to the second distributed torque.

[0035] According to a third aspect provided by the present application, a vehicle is provided, comprising the torque distribution device provided by the second aspect.

[0036] According to the fourth aspect provided by the present application, an electronic device is provided, comprising: a processor; a memory for storing processor executable instructions; wherein the processor is configured to execute instructions to implement the method of the above-mentioned first aspect and any possible implementation manner thereof.

[0037] According to the fifth aspect provided by the present application, a computer-readable storage medium is provided. When the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the method in the above-mentioned first aspect and any possible implementation method thereof.

[0038] According to the sixth aspect provided by the present application, a computer program product is provided, the computer program product comprising computer instructions, and when the computer instructions are executed on an electronic device, the electronic device executes the method of the above-mentioned first aspect and any possible implementation manner thereof.

[0039] It should be noted that the technical effects brought about by any implementation method in the second to sixth aspects can refer to the technical effects brought about by the corresponding implementation method in the first aspect, and will not be repeated here.

[0040] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application, and do not constitute improper limitations on the present application.

[0042] Figure 1 is a schematic diagram of a hardware structure of a vehicle according to an exemplary embodiment;

[0043] Figure 2 is a flow chart showing a torque distribution method according to an exemplary embodiment;

[0044] Figure 3 is a schematic diagram showing a torque distribution process according to an exemplary embodiment;

[0045] Figure 4 is a block diagram of a torque distribution device according to an exemplary embodiment;

[0046] Figure 5 is a block diagram of another torque distribution device according to an exemplary embodiment;

[0047] Figure 6 It is a block diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0048] In order to enable ordinary persons in the art to better understand the technical solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0049] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0050] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0051] The torque distribution method provided in the embodiment of the present application can be applied in a vehicle. A vehicle can also be called a vehicle, a mobile carrier, an electric vehicle (EV), a hybrid electric vehicle (HEV), a plug-in hybrid electric vehicle (PHEV), a fuel cell vehicle (FCV), an autonomous vehicle, an intelligent and connected vehicle (ICV), a driverless vehicle, etc.

[0052] In the embodiments of the present application, the vehicle may be a sedan, a sport utility vehicle (SUV), a truck, an electric vehicle, a motorcycle, a tricycle, a special vehicle (such as an ambulance, a fire truck, a police car, etc.), an unmanned taxi, an intelligent networked bus, an automatic driving logistics vehicle, an electric truck, etc. In addition, the method is also applicable to various special vehicles, such as agricultural vehicles, mining vehicles, forestry vehicles, airport vehicles, port vehicles, etc. This application does not make specific restrictions on this.

[0053] Figure 1 It is a schematic diagram of the hardware structure of a vehicle according to an exemplary embodiment.

[0054] In a possible implementation, the vehicle 100 may include a torque distribution device 101 and a data acquisition device 102 .

[0055] Optionally, Figure 1 A communication connection can be established between the torque distribution device 101 and the data acquisition device 102.

[0056] In practical applications, the torque distribution device 101 may be communicatively connected to one or more data acquisition devices 102 .

[0057] For ease of understanding, the present application takes the communication connection between a torque distribution device 101 and a data acquisition device 102 as an example for explanation.

[0058] Optionally, Figure 1 The torque distribution device 101 and the data acquisition device 102 may be functional modules integrated into the same device, or may be devices independently arranged from each other. This application does not impose any limitation on this.

[0059] It is easy to understand that when the torque distribution device 101 and the data acquisition device 102 are functional modules integrated in the same device, the communication method between the torque distribution device 101 and the data acquisition device 102 is the communication between the modules inside the device. In this case, the communication process between the two is the same as the "communication process when the torque distribution device 101 and the data acquisition device 102 are independently set up".

[0060] For ease of understanding, the present application is mainly described by taking the example that the torque distribution device 101 and the data acquisition device 102 are independently configured.

[0061] Figure 1 The data acquisition device 102 in the embodiment can obtain the first required torque when the vehicle is in a slipping state, and send the first required torque to the torque distribution device 101. The torque distribution device can determine the limit torque of the slipping shaft based on at least one of the first required torque, the second required torque and the first distributed torque, so as to further distribute the torque to the drive shaft based on the first required torque and the limit torque.

[0062] Optionally, Figure 1 The torque distribution device 101 in the embodiment may be a terminal, a server, or other types of electronic devices. Figure 1 What is shown in the figure is only an example of the equipment form of the torque distribution device 101 and does not constitute a limitation thereto.

[0063] In the case where the torque distribution device 101 is a terminal, the terminal can be a device for providing voice and / or data connectivity to a user, a handheld device with wireless connection function, or other processing devices connected to a wireless modem. The terminal can communicate with one or more core networks via a radio access network (RAN). The terminal can be a mobile terminal, such as a computer with a mobile terminal, or a mobile device built into the vehicle 100, which exchanges language and / or data with the radio access network, such as a mobile phone, a tablet computer, a laptop computer, a netbook, a personal digital assistant (PDA). This application does not impose any restrictions on this.

[0064] When the torque distribution device 101 is a server, the server may be a single server, or a server cluster composed of multiple servers. In some implementations, the server cluster may also be a distributed cluster. This application does not impose any restrictions on this.

[0065] It should be noted that the structure illustrated in the embodiment of the present application does not constitute a limitation on the vehicle 100. It may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0066] For ease of understanding, the torque distribution method provided in the present application is specifically introduced below with reference to the accompanying drawings.

[0067] Figure 2 is a flow chart of a torque distribution method according to an exemplary embodiment. Figure 2 As shown, the torque distribution method includes the following steps: S201-S203.

[0068] S201. When the vehicle is in a slipping state, obtain a first required torque.

[0069] The first required torque may be the torque required at the current moment. The required torque may be used to characterize the driving torque value directly requested by the driver through the accelerator pedal or the vehicle control system. The required torque may be used to reflect the driver's driving intention.

[0070] In one possible implementation, in order to determine whether the vehicle is in a slipping state, the torque distribution device can obtain the actual wheel speed signal and the reference wheel speed signal of the drive shaft in real time during the vehicle's driving, and judge whether the drive shaft is in a slipping state based on the actual wheel speed signal and the reference wheel speed signal.

[0071] In one example, the torque distribution device may determine that the drive shaft is a slipping shaft when the wheel speed difference of the drive shaft is greater than the wheel speed threshold for a duration greater than a duration threshold.

[0072] The wheel speed difference is the difference between the actual wheel speed signal and the reference wheel speed signal.

[0073] It is understood that the reference wheel speed signal can be determined based on the torque distributed to the drive shaft by the torque distribution device. The torque distribution device can be configured with a torque-speed mapping relationship. The torque-speed mapping relationship can include multiple reference wheel speed signals corresponding to multiple torques. The torque distribution device can determine the reference wheel speed signal that matches the torque distributed to the drive shaft by the torque distribution device based on the torque-speed mapping relationship.

[0074] Optionally, the wheel speed threshold can be set according to actual needs. For example, the wheel speed threshold can be 40 kilometers per hour or 80 kilometers per hour. This application does not make specific restrictions on this.

[0075] Optionally, the duration threshold can be set according to actual needs. For example, the duration threshold can be 10 seconds or 20 seconds. This application does not make specific restrictions on this.

[0076] Exemplarily, the wheel speed difference satisfies the following first formula:

[0077] ΔV=V drv -V ref First formula

[0078] Among them, ΔV can be used to characterize the wheel speed difference. drv Can be used to characterize the actual wheel speed signal. ref Can be used to characterize the reference wheel speed signal.

[0079] In a possible implementation, the torque distribution device may obtain the first required torque of the driver after determining the slipping shaft, that is, when it is determined that the vehicle is in a slipping state.

[0080] S202: Determine a limit torque of the slipping shaft based on at least one of the first required torque, the second required torque, and the first distributed torque.

[0081] The limiting torque is used to limit the torque output of the slipping shaft. The second required torque may be the torque required when the slipping shaft slips. The slipping shaft may be used to characterize the shaft in the drive shaft of the vehicle that slips. The first distributed torque is the torque distributed to the slipping shaft when the slipping shaft slips.

[0082] It is understood that the drive shaft of a vehicle is also called a propeller shaft or drive axle, which is a shaft that connects the engine or transmission to the wheels and is used to transmit torque and rotational motion. The drive shaft ensures that the vehicle can move as the driver wishes. The drive shaft of a single drive shaft vehicle (two-wheel drive vehicle) can be the front axle or the rear axle. The drive shaft of a dual drive shaft vehicle (four-wheel drive vehicle) can be the front axle and the rear axle.

[0083] In a possible implementation, when the vehicle is a single-drive axle vehicle, the second required torque is equal to the first distributed torque of the slipping axle. When the vehicle is a dual-drive axle vehicle, the first distributed torque is equal to the product of the second required torque and the torque distribution coefficient of the slipping axle.

[0084] In a possible implementation manner, when the vehicle is a dual-drive axle vehicle, in order to determine the limit torque of the slipping axle, the torque distribution device may determine the safety torque of the slipping axle based on the first distributed torque.

[0085] The safety torque can be used to characterize the torque boundary value of the slipping shaft in a critical state where slipping is about to occur.

[0086] In one possible implementation, the torque distribution device can obtain the ground adhesion coefficient of the current driving road surface and the driving state of the vehicle.

[0087] The driving state is used to represent the driving state or braking state of the vehicle.

[0088] In one example, the torque distribution device can collect dynamic data during vehicle driving based on multiple sensors configured. For example, the dynamic data can include wheel speed sensors, pressure sensors, etc. The torque distribution device can calculate the ground adhesion coefficient based on the dynamic data during vehicle driving.

[0089] In one possible implementation, the torque distribution device may determine a target safety factor that matches the combination of the ground adhesion coefficient and the driving state based on a target mapping relationship.

[0090] The target mapping relationship includes a plurality of safety factors that match the ground adhesion coefficient and the driving state. The target mapping may be determined based on measured parameters.

[0091] In a possible implementation manner, the torque distribution device may determine the safety torque based on the first distributed torque and the target safety factor.

[0092] In one example, the first distributed torque, the target safety factor, and the safety torque satisfy the following second formula:

[0093] T safe =T bound *α The second formula

[0094] Among them, T safe Can be used to characterize the safety torque. bound It can be used to characterize the first distributed torque. α can be used to characterize the target safety factor.

[0095] In a possible implementation manner, the torque distribution device may determine the limiting torque based on the safety torque and the magnitude relationship between the first demand torque and the second demand torque.

[0096] Specifically, the torque distribution device determines the safety torque as the limit torque when the first demand torque is greater than or equal to the second demand torque.

[0097] Alternatively, the torque distribution device may determine the torque limit coefficient of the slipping shaft based on the ratio of the safety torque to the second required torque when the first required torque is less than the second required torque. The torque distribution device may determine the limit torque based on the first required torque and the torque limit coefficient.

[0098] In one example, when the safety torque is less than the second required torque, the torque limit coefficient of the slipping shaft satisfies the following third formula:

[0099]

[0100] Among them, K new Can be used to characterize the torque limit coefficient. fast-Slip Can be used to characterize the second required torque. safe-re Can be used to characterize the safety torque.

[0101] The torque limit coefficient, the required torque and the limit torque satisfy the following fourth formula:

[0102]

[0103] Among them, T re-new Can be used to characterize the limiting torque. K new Can be used to characterize the torque limit coefficient. fast-Slip Can be used to characterize the second required torque. safe-re Can be used to characterize the safety torque. fast Can be used to characterize the first required torque.

[0104] In yet another example, when the safety torque is less than or equal to the required torque, the torque limit coefficient of the slipping shaft satisfies the following fifth formula:

[0105]

[0106] Among them, K new Can be used to characterize the torque limit coefficient. fast It can be used to characterize the first required torque. safe-re Can be used to characterize the safety torque, safety torque T safe-re is a fixed value, the torque limit coefficient K new and the required torque T fast Negative correlation, that is, the moment restriction coefficient K new With the required torque T fast decreases with the increase of .

[0107] At this time, based on the torque limit coefficient K new and the required torque T fast The limiting torque of the slipping shaft can be determined. Torque limiting factor K new , Required torque T fast And the limiting torque satisfies the following sixth formula:

[0108] T re-new =T fast *K new =T safe-re Sixth formula

[0109] Among them, T re-new Can be used to characterize the limiting torque. K new Can be used to characterize the torque limit coefficient. safe-re Can be used to characterize the safety torque. fast Can be used to characterize the first required torque.

[0110] It can be understood that, based on the sixth formula, it can be determined that when the safety torque is greater than the required torque, the limit torque is equal to the safety torque.

[0111] In one possible implementation, when the vehicle is a single drive axle vehicle, in order to determine the limiting torque of the slipping axle, the torque distribution device can determine the safety torque of the slipping axle based on the first distributed torque, and determine the safety torque as the limiting torque of the slipping axle.

[0112] S203 : Distribute torque to the drive shaft based on the first required torque and the limited torque.

[0113] In a possible implementation, when the vehicle is a single-drive-axle vehicle, the torque distribution device may distribute torque to the drive axle based on the relationship between the first required torque and the limiting torque.

[0114] Specifically, when the vehicle is a single drive shaft vehicle, the torque distribution device may control the drive shaft to output the limiting torque when the first demand torque is greater than the limiting torque. Alternatively, the torque distribution device may control the drive shaft to output the first demand torque when the first demand torque is less than or equal to the limiting torque.

[0115] In another possible implementation, when the vehicle is a dual-drive shaft vehicle, the torque distribution device may control the slipping shaft to output the limit torque when only one drive shaft of the vehicle is a slip shaft, and control the non-slipping drive shaft to output the difference between the first required torque and the limit torque. Alternatively, when both drive shafts of the vehicle are slip shafts, the torque distribution device may control the slipping shafts to output the corresponding limit torques.

[0116] In one example, if only the rear axle is a slipping axle among the front axle and the rear axle of a dual-drive axle vehicle, the limit torque of the rear axle is T re-new , the torque limit coefficient of the rear axle is K new , the first required torque is T fast , then the first distributed torque of the front axle satisfies the following seventh formula:

[0117] T frnt-new =T fast *(1-K new ) Seventh Formula

[0118] The first required torque, the limit torque of the rear axle, and the first distributed torque of the front axle satisfy the following eighth formula:

[0119] T frnt-new +T re-new =T fast *(1-K new )+T fast *K new =T fast The eighth formula

[0120] Among them, T frnt-new It can be used to characterize the first distributed torque of the front axle. re-new It can be used to characterize the limiting torque of the rear axle, that is, the first distributed torque of the rear axle. fast Can be used to characterize the first required torque. K new It can be used to characterize the torque distribution coefficient of the rear axle.

[0121] In yet another example, if both the front axle and the rear axle of the dual-drive axle vehicle are slip axles, the rear axle is controlled to output a limited torque of the rear axle, and the front axle is controlled to output a limited torque of the front axle.

[0122] In a possible implementation, the torque distribution device may gradually update the limit torque based on a preset step size after the slip of the slipping shaft is eliminated to obtain an updated limit torque.

[0123] Optionally, the preset compensation can be set according to actual needs. For example, the preset step size can be 2 Newton meters (Nm) or 10 Nm. This application does not make specific restrictions on this.

[0124] For example, if the limit torque is 10 Nm and the preset step length is 2 Nm / step, the limit torque after each step is updated is 12 Nm, 14 Nm, 16 Nm, and so on.

[0125] In one possible implementation, the torque distribution device can determine the magnitude relationship between the updated limit torque and the second distributed torque after each update of the limit torque, and distribute torque to the slipping shaft based on the magnitude relationship between the updated limit torque and the second distributed torque.

[0126] The second distributed torque is the torque currently distributed to the slipping shaft.

[0127] Specifically, the torque distribution device can distribute torque to the slipping shaft based on the updated limit torque when the updated limit torque is less than the second distributed torque, or distribute torque to the slipping shaft based on the second distributed torque when the updated limit torque is greater than or equal to the second distributed torque.

[0128] In one possible implementation, the torque distribution device may determine that the slip of the slipping shaft is eliminated when the duration that the wheel speed difference of the drive shaft is less than or equal to the first wheel speed threshold is greater than the first duration threshold.

[0129] Optionally, the first wheel speed threshold can be set according to actual needs. For example, the wheel speed threshold can be 40 kilometers per hour or 80 kilometers per hour. This application does not make specific restrictions on this.

[0130] Optionally, the first duration threshold may be set according to actual needs. For example, the duration threshold may be 10 seconds or 20 seconds. This application does not impose any specific restrictions on this.

[0131] Based on the above technical solution, the present application can determine the limiting torque that meets the vehicle power requirements and the physical limit of slipping by considering at least one of the first required torque (the vehicle's required torque at the current moment), the second required torque (the vehicle's required torque at the slipping moment) and the first allocated torque (the torque allocated to the slipping shaft at the slipping moment) when the vehicle is in a slipping state, thereby avoiding excessive restriction or excessive output on the slipping shaft, thereby ensuring that the vehicle can promptly and effectively exit the slipping state.

[0132] In some embodiments, Figure 3 As shown, Figure 3 is a schematic diagram showing a torque distribution process according to an exemplary embodiment.

[0133] In one possible implementation, the torque distribution device can obtain a reference wheel speed signal, front and rear axle wheel speed signals, and a first required torque. The torque distribution device can determine whether the vehicle is slipping based on the reference wheel speed signal and the front and rear axle wheel speed signals. The torque distribution device can obtain the first distributed torque and the second required torque of the slipping shaft, and determine the safety torque of the slipping shaft based on the first distributed torque. The torque distribution device can distribute torque to the slipping shaft through the safety torque when the vehicle is a single-drive axle vehicle. The torque distribution device can calculate the limiting torque of the slipping shaft through the safety torque when the vehicle is a dual-drive axle vehicle, and distribute torque to the slipping shaft based on the limiting torque. The torque distribution device can release the torque limit after the slip is eliminated.

[0134] In some embodiments, Figure 4 As shown, Figure 4 is a block diagram of a torque distribution device according to an exemplary embodiment.

[0135] In a possible implementation, the torque distribution device 300 includes a vehicle state determination unit 301 , a torque calculation unit 302 , a torque control unit 303 and a torque recovery control unit 304 .

[0136] The vehicle state judgment unit 301 is used to obtain the actual wheel speed signal of the drive shaft and the reference wheel speed signal to judge whether the vehicle is slipping. The vehicle state judgment unit is also used to obtain the first distributed torque of the drive shaft and the vehicle demand torque to judge the driving state of the vehicle.

[0137] The torque calculation unit 302 is used to calculate the limit torque of the slipping shaft based on the first distributed torque of the driving shaft, the vehicle demand torque and the safety torque of the slipping shaft.

[0138] The torque control unit 303 is used to distribute the torque to the slipping shaft based on the limit torque.

[0139] The torque recovery control unit 304 is used to gradually recover the torque of the slipping shaft after the slip is eliminated.

[0140] Figure 5 is a block diagram of another torque distribution device according to an exemplary embodiment. Figure 5 The torque distribution device includes: an acquisition unit 401, a determination unit 402, a distribution unit 403 and a processing unit 404.

[0141] In a possible manner, the acquisition unit 401 is used to acquire the first required torque when the vehicle is in a slipping state.

[0142] In a possible manner, the determination unit 402 is configured to determine the limiting torque of the slipping shaft based on at least one of the first required torque, the second required torque, and the first distributed torque.

[0143] In a possible manner, the allocating unit 403 is configured to distribute torque to the drive shaft based on the first required torque and the limited torque.

[0144] In a possible manner, the determination unit 402 is specifically configured to: determine the safety torque of the slipping shaft based on the first distributed torque, and determine the limit torque based on the safety torque and the magnitude relationship between the first required torque and the second required torque.

[0145] In a possible manner, the determination unit 402 is specifically configured to: determine the torque limit coefficient of the slipping shaft based on the ratio of the safety torque to the second required torque when the first required torque is less than the second required torque. Determine the limit torque based on the first required torque and the torque limit coefficient.

[0146] In a possible manner, the determination unit 402 is specifically configured to: determine the safety torque as the limit torque when the first required torque is greater than or equal to the second required torque.

[0147] In a possible manner, the determination unit 402 is specifically configured to: determine the safety torque of the slipping shaft based on the first distributed torque, and determine the limit torque from the safety torque.

[0148] In one possible manner, the determination unit 402 is specifically configured to: obtain the ground adhesion coefficient of the current driving road surface and the driving state of the vehicle, determine a safety factor that matches the combination of the ground adhesion coefficient and the driving state, and determine a safety torque based on the first distributed torque and the safety factor.

[0149] In a possible manner, the determination unit 402 is further configured to: obtain an actual wheel speed signal and a reference wheel speed signal of the drive shaft, and determine whether the drive shaft is a slipping shaft based on the actual wheel speed signal and the reference wheel speed signal.

[0150] In one possible manner, the determination unit 402 is specifically configured to determine that the drive shaft is a slipping shaft when the wheel speed difference of the drive shaft is greater than the wheel speed threshold for a duration greater than a duration threshold.

[0151] In a possible manner, the processing unit 404 is configured to obtain the second distributed torque and the updated limit torque after the slip of the slipping shaft is eliminated.

[0152] In a possible manner, the allocating unit 403 is further configured to distribute torque to the slipping shaft based on the updated limit torque when the updated limit torque is less than the second distributed torque.

[0153] In a possible manner, the allocating unit 403 is further configured to distribute the torque based on the second distributed torque slip shaft when the updated limit torque is greater than or equal to the second distributed torque.

[0154] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0155] Figure 6 FIG. 1 is a block diagram of an electronic device according to an exemplary embodiment. Figure 6 As shown, the electronic device includes but is not limited to: a processor 501 and a memory 502 .

[0156] The memory 502 is used to store executable instructions of the processor 501. It can be understood that the processor 501 is configured to execute instructions to implement the torque distribution method in the above embodiment.

[0157] It should be noted that those skilled in the art can understand that Figure 6 The electronic device structure shown in the figure does not constitute a limitation on the electronic device, and the electronic device may include Figure 6More or fewer components may be shown, or certain components may be combined, or the components may be arranged differently.

[0158] The processor 501 is the control center of the electronic device. It uses various interfaces and lines to connect various parts of the entire electronic device. By running or executing software programs and / or modules stored in the memory 502, and calling data stored in the memory 502, it performs various functions of the electronic device and processes data, thereby monitoring the electronic device as a whole. The processor 501 may include one or more processing units. Optionally, the processor 501 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 501.

[0159] The memory 502 can be used to store software programs and various data. The memory 502 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application program required by at least one functional module (such as a determination unit, a processing unit, etc.), etc. In addition, the memory 502 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0160] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 502 including instructions. The above instructions can be executed by a processor 501 of an electronic device to implement the method in the above embodiment.

[0161] In actual implementation, Figure 5 The functions of the acquisition unit 401, the determination unit 402, the allocation unit 403 and the processing unit 404 in Figure 6 The processor 501 in the embodiment calls the computer program stored in the memory 502. The specific execution process can refer to the description of the method part in the above embodiment, which will not be repeated here.

[0162] Optionally, the computer-readable storage medium may be a non-temporary computer-readable storage medium, for example, the non-temporary computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0163] In an exemplary embodiment, the present application also provides a computer program product including one or more instructions, and the one or more instructions can be executed by the processor 501 of the electronic device to complete the method in the above embodiment.

[0164] It should be noted that when the instructions in the above-mentioned computer-readable storage medium or one or more instructions in the computer program product are executed by the processor of the electronic device, the various processes of the above-mentioned method embodiment are implemented, and the same technical effect as the above-mentioned method can be achieved. To avoid repetition, they will not be repeated here.

[0165] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0166] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0167] The units described as separate components may or may not be physically separated, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0168] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0169] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or the full classification part or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including a number of instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute the full classification part or part of the steps of each embodiment method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, ROM, RAM, disk or CD and other media that can store program code.

[0170] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A torque distribution method, characterized in that: The method comprises: When the vehicle is in a slipping state, obtaining a first required torque; Based on at least one of the first required torque, the second required torque and the first distributed torque, a limiting torque of the slipping shaft is determined; the limiting torque is used to limit the torque output of the slipping shaft; the second required torque is the torque required by the vehicle when the slipping shaft slips; the slipping shaft is used to represent the shaft in the driving shaft of the vehicle where slipping occurs; the first distributed torque is the torque distributed to the slipping shaft when the slipping shaft slips; Torque is distributed to the drive shaft based on the first demand torque and the limit torque.

2. The method according to claim 1, characterized in that In the case where the vehicle is a dual-drive axle vehicle, determining the limit torque of the slipping axle based on at least one of the first required torque, the second required torque and the first distributed torque includes: Based on the first distributed torque, determining a safety torque of the slipping shaft; the safety torque is used to represent a torque boundary value of the slipping shaft in a critical state where slipping is about to occur; The limit torque is determined based on the safety torque and the magnitude relationship between the first demand torque and the second demand torque.

3. The method according to claim 2, characterized in that The determining the limit torque based on the safety torque and the magnitude relationship between the first required torque and the second required torque includes: When the first required torque is less than the second required torque, determining a torque limit coefficient of the slipping shaft based on a ratio of the safety torque to the second required torque; The limit torque is determined based on the first demand torque and the torque limit coefficient.

4. The method according to claim 2, characterized in that: The determining the limit torque based on the safety torque and the magnitude relationship between the first required torque and the second required torque includes: In a case where the first required torque is greater than or equal to the second required torque, the safety torque is determined as the limit torque.

5. The method according to claim 1, characterized in that In the case that the vehicle is a single drive shaft vehicle, determining the limit torque of the slipping shaft based on at least one of the first required torque, the second required torque and the first distributed torque includes: determining a safety torque of the slipping shaft based on the first distributed torque; The safety torque is used to determine the limit torque.

6. The method according to any one of claims 2 to 5, characterized in that: The step of determining the safety torque of the slipping shaft based on the first distributed torque includes: Acquiring the ground adhesion coefficient of the current driving road surface and the driving state of the vehicle; the driving state is used to characterize the driving state or braking state of the vehicle; Determine a safety factor that matches the combination of the ground adhesion coefficient and the driving state; The safety torque is determined based on the first distributed torque and the safety factor.

7. The method according to claim 1, characterized in that The slip axis is determined as follows: Acquiring an actual wheel speed signal and a reference wheel speed signal of the drive shaft; the reference wheel speed signal is determined based on the first distributed torque; Based on the actual wheel speed signal and the reference wheel speed signal, it is determined whether the drive shaft is the slipping shaft.

8. The method according to claim 7, characterized in that The determining whether the drive shaft is the slipping shaft based on the actual wheel speed signal and the reference wheel speed signal includes: When the wheel speed difference of the drive shaft is greater than the wheel speed threshold for a duration greater than the duration threshold, the drive shaft is determined to be the slipping shaft; the wheel speed difference is the difference between the actual wheel speed signal and the reference wheel speed signal.

9. The method according to any one of claims 1 to 5, characterized in that The method further comprises: After the slip of the slip shaft is eliminated, a second distributed torque and an updated limit torque are obtained; the updated limit torque is obtained by gradually updating the limit torque based on a preset step length; When the updated limit torque is smaller than the second distributed torque, torque is distributed to the slip shaft based on the updated limit torque.

10. The method according to claim 9, characterized in that The method further comprises: When the updated limit torque is greater than or equal to the second distributed torque, the slip shaft distributes the torque based on the second distributed torque.

11. A torque distribution device, characterized in that: The device comprises: an acquisition unit, a determination unit and an allocation unit; The acquisition unit is used to acquire the first required torque when the vehicle is in a slipping state; The determination unit is used to determine the limiting torque of the slipping shaft based on at least one of the first required torque, the second required torque and the first allocated torque; the limiting torque is used to limit the torque output of the slipping shaft; the second required torque is the torque required by the vehicle when the slipping shaft slips; the slipping shaft is used to represent the shaft in the driving shaft of the vehicle that slips; the first allocated torque is the torque allocated to the slipping shaft when the slipping shaft slips; The distribution unit is used to distribute torque to the drive shaft based on the first required torque and the limited torque.

12. A vehicle, characterized in that: The vehicle includes the torque distribution device as claimed in claim 11.

13. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement the method according to any one of claims 1 to 10.

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