Torque distribution method, device, vehicle and equipment

Abstract

This application relates to a torque distribution method, apparatus, vehicle, and device, and pertains to the field of vehicle technology. The method includes: acquiring a first required torque when the vehicle is in a slipping state; determining a limiting torque for a slipping axle based on at least one of the first required torque, a second required torque, and a first distribution torque; the limiting torque is used to limit the torque output of the slipping axle; the second required torque is the torque required by the vehicle when the slipping axle slips; the slipping axle is used to characterize the axle in the vehicle's drive shaft where slippage occurs; the first distribution torque is the torque allocated to the slipping axle when slippage occurs; and distributing torque to the drive shaft based on the first required torque and the limiting torque. Therefore, this application can determine an appropriate limiting torque, avoiding excessive restriction or excessive output to the slipping axle, thereby ensuring that the vehicle can effectively and promptly escape the slipping state.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more particularly to the field of vehicle control technology, specifically to a torque distribution method, device, vehicle, and equipment. Background Technology

[0002] Drive shaft slippage is a common phenomenon when vehicles are driving on low-traction surfaces (such as icy, snowy, or muddy roads). Slippage leads to wasted power, reduced vehicle stability, and prevents the vehicle from fully utilizing its power performance.

[0003] To address this issue, one related technology proposes generating a slip error coefficient by calculating the deviation between the actual and theoretical slip ratios of the front and rear axles, and then dynamically adjusting the torque distribution coefficients of the front and rear axles using a Proportional Integral Differential (PID) algorithm, while simultaneously limiting the initial torque distribution. Another related technology proposes calculating the torque distribution coefficient with optimal system efficiency and then using this coefficient to distribute torque output to the front and rear axles.

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

[0005] This application provides a torque distribution method, apparatus, vehicle, and device to at least solve the technical problem of difficulty in eliminating vehicle slippage in related technologies. The technical solution of this application is as follows:

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

[0007] Based on the above technical means, this application can determine the limiting torque that meets the vehicle's power requirements and the physical limits of slippage when the vehicle is in a slipping state 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 slippage) and the first distribution torque (the torque distributed to the slipping axle at the moment of slippage), thereby avoiding excessive restriction or excessive output on the slipping axle and ensuring that the vehicle can get out of the slipping state in a timely and effective manner.

[0008] In one possible approach, when the vehicle is a dual-drive axle vehicle, determining the limiting torque of the slipping axle based on at least one of a first required torque, a second required torque, and a first distribution torque includes: determining a safe torque of the slipping axle based on the first distribution torque; the safe torque being used to characterize the torque boundary value of the slipping axle in a critical state where slippage is about to occur; and determining the limiting torque based on the safe torque and the magnitude relationship between the first required torque and the second required torque.

[0009] Based on the above-mentioned technical means, this application can dynamically calculate the limiting torque on the slipping shaft based on the relationship between the first required torque and the second required torque, thereby accurately controlling the torque output of the slipping shaft and eliminating vehicle slippage.

[0010] In one possible approach, 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; and determining the limiting torque based on the first required torque and the torque limiting coefficient.

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

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

[0013] Based on the above technical means, this application can use the torque boundary value of the slipping shaft in the critical state of impending slippage as the limiting torque, which can ensure that the torque on the slipping shaft will not exceed this boundary value, thereby effectively eliminating vehicle slippage.

[0014] In one possible approach, when the vehicle is a single-drive-axle vehicle, determining the limiting torque of the slipping axle based on at least one of a first demand torque, a second demand torque, and a first distribution torque includes: determining a safe torque for the slipping axle based on the first distribution torque; and determining the limiting torque based on the safe torque.

[0015] Based on the above technical means, this application can determine the torque boundary value of the slipping shaft in the critical state of impending slippage, and use the torque boundary value of the slipping shaft in the critical state of impending slippage 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 slippage.

[0016] In one possible approach, determining the safe torque for the slipping shaft based on a first distribution torque includes: acquiring the ground adhesion coefficient of the current driving surface and the vehicle's driving state; the driving state being used to characterize the vehicle's driving or braking state; determining a safety factor that matches the combination of the ground adhesion coefficient and the driving state; and determining the safe torque based on the first distribution torque and the safety factor.

[0017] Based on the above technical means, this application can accurately assess the vehicle's driving ability under current road conditions by obtaining the ground adhesion coefficient (the magnitude of friction between the vehicle tires and the road surface) of the current driving surface. Based on these ground adhesion coefficients and driving conditions, a safe torque can be determined to ensure that the vehicle's power distribution is more reasonable and effectively eliminate vehicle slippage.

[0018] In one possible approach, the actual wheel speed signal and a reference wheel speed signal of the drive shaft are acquired; the reference wheel speed signal is determined based on a 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] Based on the above technical means, this application can determine whether a vehicle is slipping by using actual wheel speed signals and reference wheel speed signals, avoiding the problem of large errors in determining whether a vehicle is slipping by slip ratio in related technologies, and improving the accuracy of determining whether the vehicle's drive shaft is slipping.

[0020] In one possible approach, determining whether a drive shaft is slipping based on the actual wheel speed signal and a reference wheel speed signal includes: determining that the drive shaft is slipping if the duration of the wheel speed difference of the drive shaft being greater than a wheel speed threshold is greater than a duration threshold; the wheel speed difference is the difference between the actual wheel speed signal and the reference wheel speed signal.

[0021] Based on the above technical means, this application can effectively avoid misjudgments caused by instantaneous wheel speed fluctuations or sensor errors by using wheel speed thresholds and duration thresholds, thereby improving the accuracy of judging whether the vehicle's drive shaft is slipping.

[0022] In one possible approach, after the slippage of the slipping shaft is eliminated, a second distribution 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; if the updated limiting torque is less than the second distribution torque, torque distribution is performed on the slipping shaft based on the updated limiting torque.

[0023] In one possible approach, torque distribution is performed on the slip shaft based on the second distribution torque, provided that the updated limiting torque is greater than or equal to the second distribution torque.

[0024] Based on the aforementioned technical means, this application can distribute torque according to the updated limiting torque and the third required torque after slippage is eliminated, avoiding sudden excessive torque that could cause the wheels to slip again, thereby enhancing the vehicle's driving stability. Furthermore, by gradually updating the limiting torque, the vehicle's torque output can be adjusted more smoothly, avoiding the shock caused by sudden torque changes.

[0025] According to a second aspect of this application, a torque distribution device is provided, comprising: an acquisition unit, a determination unit, and a distribution unit; the acquisition unit is configured to acquire a first required torque when the vehicle is in a slipping state; the determination unit is configured to determine a limiting torque for a slipping shaft based on at least one of the first required torque, a second required torque, and a first distribution 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 is slipping; the first distribution torque is the torque allocated to the slipping shaft when the slipping shaft slips; and the distribution unit is configured to distribute torque to the drive shaft based on the first required torque and the limiting torque.

[0026] In one possible approach, the determining unit is specifically used to: determine the safe torque of the slipping shaft based on the first allocated torque; the safe torque is used to characterize the torque boundary value of the slipping shaft in the critical state where slippage is about to occur; and determine the limiting torque based on the safe torque and the magnitude relationship between the first required torque and the second required torque.

[0027] In one possible approach, the determining unit is specifically used to: determine the torque limiting coefficient of the slipping shaft based on the ratio of the safe torque to the second demand torque when the first demand torque is less than the second demand torque; and determine the limiting torque based on the first demand torque and the torque limiting coefficient.

[0028] In one possible approach, the determining unit is specifically used to: determine the safety torque as the limiting torque when the first required torque is greater than or equal to the second required torque.

[0029] In one possible approach, the determining unit is specifically used to: determine the safe torque of the slipping shaft based on the first distributed torque; and determine the limiting torque based on the safe torque.

[0030] In one possible approach, the determining unit is specifically used to: obtain the ground adhesion coefficient of the current driving 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 allocated torque and the safety factor.

[0031] In one possible approach, the determining unit is further configured to: acquire an actual wheel speed signal and a reference wheel speed signal of the drive shaft; the reference wheel speed signal is determined based on a 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 approach, the determining unit is specifically used to: determine the drive shaft as a slipping shaft when the duration of the wheel speed difference of the drive shaft being greater than the wheel speed threshold is 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 apparatus further includes: a processing unit; the processing unit is configured to acquire a second distribution torque and an updated limiting torque after the slippage of the slipping shaft is eliminated; the updated limiting torque is obtained by gradually updating the limiting torque based on a preset step size; the distribution unit is further configured to distribute torque to the slipping shaft based on the updated limiting torque when the updated limiting torque is less than the second distribution torque.

[0034] In one possible approach, the distribution unit is also used to distribute torque based on the slip shaft when the updated limiting torque is greater than or equal to the second distribution torque.

[0035] According to a third aspect provided in this application, a vehicle is provided, including the torque distribution device provided in the second aspect.

[0036] According to a fourth aspect provided in this 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 first aspect described above and any possible implementation thereof.

[0037] According to a fifth aspect provided in this application, a computer-readable storage medium is provided that, when the instructions in the computer-readable storage medium are executed by a processor of an electronic device, enables the electronic device to perform the methods described in the first aspect and any possible implementation thereof.

[0038] According to the sixth aspect provided in this application, a computer program product is provided, the computer program product including computer instructions, which, when executed on an electronic device, cause the electronic device to perform the method described in the first aspect and any possible implementation thereof.

[0039] It should be noted that the technical effects of any of the implementation methods in aspects two through six can be found in the technical effects of the corresponding implementation methods in aspect one, and will not be repeated here.

[0040] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0041] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application, and do not constitute an undue limitation of this application.

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

[0043] Figure 2 This is a flowchart illustrating a torque distribution method according to an exemplary embodiment;

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

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

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

[0047] Figure 6 This is a block diagram illustrating an electronic device according to an exemplary embodiment. Detailed Implementation

[0048] To enable those skilled in the art to better understand the technical solutions of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0049] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0050] The technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0051] The torque distribution method provided in this application can be applied to vehicles. Vehicles can also be referred to as vehicles, mobile carriers, electric vehicles (EVs), hybrid electric vehicles (HEVs), plug-in hybrid electric vehicles (PHEVs), fuel cell vehicles (FCVs), autonomous vehicles, intelligent and connected vehicles (ICVs), driverless vehicles, etc.

[0052] In this application, the vehicle can be a sedan, a sport utility vehicle (SUV), a truck, an electric vehicle, a motorcycle, a tricycle, a special vehicle (such as an ambulance, fire truck, police car, etc.), a driverless taxi, an intelligent connected bus, an autonomous logistics vehicle, an electric truck, etc. Furthermore, this method is also applicable to various special-purpose vehicles, such as agricultural vehicles, mining vehicles, forestry vehicles, airport vehicles, and port vehicles. This application does not impose specific limitations in this regard.

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

[0054] In one possible implementation, vehicle 100 may include torque distribution device 101 and 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 can be communicatively connected with one or more data acquisition devices 102.

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

[0058] Optionally, Figure 1 The torque distribution device 101 and the data acquisition device 102 can be functional modules integrated into the same device, or they can be independently set up. This application does not impose any restrictions 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 within the same device, the communication method between the torque distribution device 101 and the data acquisition device 102 is the same as the communication method between modules within 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 set up independently.

[0060] For ease of understanding, this application mainly uses the example of the torque distribution device 101 and the data acquisition device 102 being configured independently of each other.

[0061] Figure 1 The data acquisition device 102 can acquire a 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 limiting torque of the slipping shaft based on at least one of the first required torque, the second required torque, and the first distribution torque, so as to further distribute torque to the drive shaft based on the first required torque and the limiting torque.

[0062] Optionally, Figure 1 The torque distribution device 101 can be a terminal, a server, or other types of electronic equipment. Figure 1 The diagram shown is merely an example of the device configuration of the torque distribution device 101 and does not constitute a limitation thereof.

[0063] When the torque distribution device 101 is a terminal, the terminal can be a device providing voice and / or data connectivity to a user, a handheld device with wireless connectivity, 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 that exchanges voice and / or data with the radio access network, such as a mobile phone, tablet, laptop, netbook, or personal digital assistant (PDA). This application does not impose any limitations on this.

[0064] When the torque distribution device 101 is a server, the server can be a single server or a server cluster consisting of multiple servers. In some embodiments, the server cluster can also be a distributed cluster. This application does not impose any limitations in this regard.

[0065] It should be noted that the structure illustrated in the embodiments of this application does not constitute a limitation on vehicle 100. It may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0066] For ease of understanding, the torque distribution method provided in this application will be described in detail below with reference to the accompanying drawings.

[0067] Figure 2 This is a flowchart illustrating a torque distribution method according to an exemplary embodiment, such as... Figure 2 As shown, the torque distribution method includes the following steps: S201-S203.

[0068] S201. Obtain the first required torque when the vehicle is in a slippery state.

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

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

[0071] In one example, the torque distribution device can determine that the drive shaft is slipping if the duration of the wheel speed difference of the drive shaft being greater than the wheel speed threshold is greater than the duration threshold.

[0072] Among them, the wheel speed difference is the difference between the actual wheel speed signal and the reference wheel speed signal.

[0073] Understandably, 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 that correspond one-to-one with multiple torques. Based on the torque-speed mapping relationship, 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.

[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 impose specific limitations in this regard.

[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 impose specific restrictions on this.

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

[0077] ΔV=V drv -V ref First Formula

[0078] ΔV can be used to characterize the wheel speed difference. drv It can be used to characterize actual wheel speed signals. V ref It can be used to characterize the reference wheel speed signal.

[0079] In one possible implementation, the torque distribution device can acquire the driver's first required torque after the slipping shaft is determined, i.e., after determining that the vehicle is in a slipping state.

[0080] S202. Determine the limiting torque of the slip shaft based on at least one of the first demand torque, the second demand torque, and the first distribution torque.

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

[0082] As is understood, a vehicle's drive shaft, also known as a transmission shaft or drive axle, is the shaft that connects the engine or transmission to the wheels, transmitting torque and rotational motion. The drive shaft ensures that the vehicle can move according to the driver's intentions. A single-drive-axle vehicle (two-wheel drive) can have either a front or rear drive shaft. A dual-drive-axle vehicle (four-wheel drive) can have both a front and rear drive shaft.

[0083] In one 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 one possible implementation, when the vehicle is a dual-drive axle vehicle, in order to determine the limiting torque of the slipping axle, the torque distribution device can determine the safe torque of the slipping axle based on a first distribution torque.

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

[0086] In one possible implementation, the torque distribution device can obtain the coefficient of friction of the current road surface and the vehicle's driving status.

[0087] Among them, driving status is used to characterize the driving status or braking status of the vehicle.

[0088] In one example, the torque distribution device can collect dynamic data during vehicle operation based on multiple configured sensors. For example, the dynamic data may include wheel speed sensors, pressure sensors, etc. The torque distribution device can then calculate the coefficient of friction based on this dynamic data.

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

[0090] The target mapping relationship includes multiple safety factors that are matched with the combination of ground adhesion coefficient and driving conditions. The target mapping can be determined based on measured parameters.

[0091] In one possible implementation, the torque distribution device can determine the safe torque based on a first distribution torque and a target safety factor.

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

[0093] T safe =T bound *α Second Formula

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

[0095] In one possible implementation, the torque distribution device can determine the limiting torque based on the safe torque and the magnitude relationship between the first required torque and the second required torque.

[0096] Specifically, when the first required torque is greater than or equal to the second required torque, the torque distribution device determines the safe torque as the limiting torque.

[0097] Alternatively, the torque distribution device can determine the torque limiting factor of the slipping shaft based on the ratio of the safe torque to the second required torque, when the first required torque is less than the second required torque. The torque distribution device can determine the limiting torque based on the first required torque and the torque limiting factor.

[0098] In one example, when the safe torque is less than the second required torque, the torque limiting factor of the slipping shaft satisfies the following third formula:

[0099]

[0100] Among them, K new It can be used to characterize the torque limiting factor. T fast-Slip It can be used to characterize the second required torque. T safe-re It can be used to characterize safe torque.

[0101] The torque limiting factor, the required torque, and the limiting torque satisfy the following fourth formula:

[0102]

[0103] Among them, T re-new It can be used to characterize limiting torque. K new It can be used to characterize the torque limiting factor. T fast-Slip It can be used to characterize the second required torque. T safe-re It can be used to characterize safe torque. T fast It can be used to characterize the first required torque.

[0104] In another example, when the safe torque is less than or equal to the required torque, the torque limiting factor of the slipping shaft satisfies the following fifth formula:

[0105]

[0106] Among them, K new It can be used to characterize the torque limiting factor. T fast It can be used to characterize the initial required torque. T safe-re It can be used to characterize the safe torque, the safe torque T safe-re The torque limiting factor K is a fixed value. new With demand torque T fast Negative correlation, i.e., moment constraint coefficient K new With demand torque T fast It decreases as it increases.

[0107] At this point, based on the torque limiting coefficient K new and required torque T fast The limiting torque of the slipping shaft can be determined. Torque limiting coefficient K new Required torque T fast 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 It can be used to characterize limiting torque. K new It can be used to characterize the torque limiting factor. T safe-re It can be used to characterize safe torque. T fast It can be used to characterize the first required torque.

[0110] Understandably, based on the sixth formula, it can be determined that when the safe torque is greater than the required torque, the limiting torque equals the safe 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 safe torque of the slipping axle based on a first distribution torque, and set the safe 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 limiting torque.

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

[0114] Specifically, in the case of a single-drive-axle vehicle, the torque distribution device can control the drive axle to output the limited torque when the first required torque is greater than the limited torque. Alternatively, the torque distribution device can control the drive axle to output the first required torque when the first required torque is less than or equal to the limited torque.

[0115] In another possible implementation, when the vehicle is a dual-drive axle vehicle, the torque distribution device can control the slipping axle to output a limiting torque when only one drive axle is slipping, and control the non-slipping drive axle to output the difference between the first required torque and the limiting torque. Alternatively, when both drive axles of the vehicle are slipping, the torque distribution device can control the slipping axles to output their respective limiting torques.

[0116] In one example, if only the rear axle of a dual-drive axle vehicle is slipping, the limiting torque of the rear axle is T. re-new The torque limiting factor for the rear axle is K. new The first required torque is T fast Then the first distribution torque of the front axle satisfies the following seventh formula:

[0117] T frnt-new =T fast *(1-K new Formula 7

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

[0119] T frnt-new +T re-new =T fast *(1-K new )+T fast *K new =T fast Eighth Formula

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

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

[0122] In one possible implementation, the torque distribution device can gradually update the limiting torque based on a preset step size after the slippage of the slipping shaft is eliminated, thus obtaining the updated limiting 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 impose specific limitations on this.

[0124] For example, if the limiting torque is 10 Nm and the preset step size is 2 Nm / step, then the limiting torque after each step update will be 12 Nm, 14 Nm, 16 Nm, etc.

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

[0126] The second torque allocation is the torque allocated to the slipping shaft at the current moment.

[0127] Specifically, the torque distribution device can distribute torque to the slipping shaft based on the updated limiting torque if the updated limiting torque is less than the second distribution torque. Alternatively, it can distribute torque to the slipping shaft based on the second distribution torque if the updated limiting torque is greater than or equal to the second distribution torque.

[0128] In one possible implementation, the torque distribution device can determine slippage elimination of the slipping shaft when the duration of the wheel speed difference of the drive shaft being less than or equal to a first wheel speed threshold is greater than a 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 impose specific limitations on this.

[0130] Optionally, the first 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 impose specific restrictions on this.

[0131] Based on the above technical solution, this application can determine the limiting torque that meets the vehicle's power requirements and the physical limits of slippage 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 slippage), and the first distribution torque (the torque distributed to the slipping axle at the moment of slippage) when the vehicle is in a slipping state. This avoids excessive restriction or excessive output on the slipping axle, thereby ensuring that the vehicle can get out of the slipping state in a timely and effective manner.

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

[0133] In one possible implementation, the torque distribution device can acquire reference wheel speed signals, front and rear axle wheel speed signals, and a first required torque. Based on the reference wheel speed signals and the front and rear axle wheel speed signals, the torque distribution device can determine whether the vehicle is slipping. The torque distribution device can acquire a first allocated torque and a second required torque for the slipping axle, and determine a safe torque for the slipping axle based on the first allocated torque. In the case of a single-drive-axle vehicle, the torque distribution device can distribute torque to the slipping axle using the safe torque. In the case of a dual-drive-axle vehicle, the torque distribution device can calculate a limiting torque for the slipping axle using the safe torque, and distribute torque to the slipping axle based on the limiting torque. The torque distribution device can release the torque limiting after the slippage is eliminated.

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

[0135] In one 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 status determination unit 301 is used to acquire the actual wheel speed signal and reference wheel speed signal of the drive shaft to determine whether the vehicle is slipping. The vehicle status determination unit is also used to acquire the first distributed torque of the drive shaft and the required torque of the vehicle to determine the vehicle's driving status.

[0137] The torque calculation unit 302 is used to calculate the limiting torque of the slip shaft based on the first distribution torque of the drive shaft, the vehicle demand torque, and the safe torque of the slip shaft.

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

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

[0140] Figure 5 This is a block diagram illustrating yet another torque distribution device according to an exemplary embodiment. (Refer to...) 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 one possible approach, the acquisition unit 401 is used to acquire the first required torque when the vehicle is in a slippery state.

[0142] In one possible approach, determining unit 402 is used to determine the limiting torque of the slip shaft based on at least one of a first demand torque, a second demand torque, and a first distribution torque.

[0143] In one possible configuration, the distribution unit 403 is used to distribute torque to the drive shaft based on a first required torque and a limiting torque.

[0144] In one possible approach, determining unit 402 is specifically configured to: determine a safe torque for the slipping shaft based on a first allocated torque; and determine a limiting torque based on the safe torque and the magnitude relationship between the first required torque and the second required torque.

[0145] In one possible approach, the determining unit 402 is specifically configured to: determine a torque limiting coefficient for the slipping shaft based on the ratio of the safe torque to the second required torque when the first required torque is less than the second required torque; and determine a limiting torque based on the first required torque and the torque limiting coefficient.

[0146] In one possible approach, the determining unit 402 is specifically configured to: determine the safety torque as the limiting torque when the first required torque is greater than or equal to the second required torque.

[0147] In one possible approach, determining unit 402 is specifically used to: determine a safe torque for the slipping shaft based on a first distributed torque; and then determine a limiting torque from the safe torque.

[0148] In one possible approach, the determining unit 402 is specifically configured to: acquire the ground adhesion coefficient of the current driving surface and the vehicle's driving state; determine a safety factor that matches the combination of the ground adhesion coefficient and the driving state; and determine a safety torque based on a first allocated torque and the safety factor.

[0149] In one possible implementation, the determining unit 402 is further configured to: acquire the actual wheel speed signal and the reference wheel speed signal of the drive shaft; and determine whether the drive shaft is slipping based on the actual wheel speed signal and the reference wheel speed signal.

[0150] In one possible approach, the determining unit 402 is specifically used to: determine the drive shaft as a slipping shaft when the duration of the wheel speed difference of the drive shaft being greater than the wheel speed threshold is greater than the duration threshold.

[0151] In one possible approach, the processing unit 404 is used to acquire a second allocated torque and an updated limiting torque after the slippage of the slipping shaft is eliminated.

[0152] In one possible embodiment, the distribution unit 403 is further configured to distribute torque to the slipping shaft based on the updated limiting torque if the updated limiting torque is less than the second distribution torque.

[0153] In one possible configuration, the distribution unit 403 is also configured to distribute torque based on the slip shaft when the updated limiting torque is greater than or equal to the second distribution torque.

[0154] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0155] Figure 6 This is a block diagram illustrating 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 described above is used to store the executable instructions of the processor 501. It is understood that the processor 501 is configured to execute instructions to implement the torque distribution method in the above embodiments.

[0157] It should be noted that those skilled in the art will understand that Figure 6 The electronic device structure shown does not constitute a limitation on the electronic device; the electronic device may include, but is not limited to, other electronic devices. Figure 6This may indicate more or fewer components, or combinations of certain components, or different component arrangements.

[0158] Processor 501 is the control center of the electronic device. It connects various parts of the electronic device via various interfaces and lines. By running or executing software programs and / or modules stored in memory 502, and by calling data stored in memory 502, it performs various functions and processes data, thereby providing overall monitoring of the electronic device. Processor 501 may include one or more processing units. Optionally, processor 501 may integrate an application processor and a modem processor. The application processor mainly handles the operating system, user interface, and applications, while the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into processor 501.

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

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

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

[0162] Optionally, the computer-readable storage medium may be a non-transitory computer-readable storage medium, such as a read-only memory (ROM), random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device.

[0163] In an exemplary embodiment, this application also provides a computer program product including one or more instructions, which can be executed by a processor 501 of an electronic device to perform the methods described above.

[0164] It should be noted that when one or more instructions in the computer-readable storage medium or computer program product are executed by the processor of an electronic device, they implement the various processes of the above method embodiments and achieve the same technical effect as the above method. To avoid repetition, they will not be described again here.

[0165] Through the above description of the embodiments, those skilled in the art can clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above 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 this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another apparatus, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0167] The units described as separate components may or may not be physically separate. A component shown as a unit can be one or more physical units; that is, it can be located in one place or distributed in multiple different locations. Some or all of the classified units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0168] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0169] If the integrated unit is implemented as 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 embodiments of this application, essentially, or the part that contributes to the prior art, or a complete or partial classification of the technical solution, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0170] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A torque distribution method, characterized in that, The method includes: Obtain the required torque when the vehicle is slipping; A limiting torque for the slipping shaft is determined 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 characterize the shaft in the vehicle's drive shaft that slips; the first allocated torque is the torque allocated to the slipping shaft when the slipping shaft slips. The drive shaft is torque-distributed based on the first required torque and the limiting torque. Wherein, in the case that the vehicle is a dual-drive axle vehicle, determining the limiting 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 allocated torque, the safe torque of the slipping shaft is determined; the safe torque is used to characterize the torque boundary value of the slipping shaft in the critical state where slippage is about to occur. The limiting torque is determined based on the safety torque and the relationship between the first required torque and the second required torque.

2. The method according to claim 1, characterized in that, Determining the limiting torque based on the safe 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, the torque limiting coefficient of the slipping shaft is determined based on the ratio of the safe torque to the second required torque. The limiting torque is determined based on the first required torque and the torque limiting coefficient.

3. The method according to claim 1, characterized in that, Determining the limiting torque based on the safe torque and the magnitude relationship between the first required torque and the second required torque includes: When the first required torque is greater than or equal to the second required torque, the safe torque is determined as the limiting torque.

4. The method according to claim 1, characterized in that, When the vehicle is a single-drive axle vehicle, determining the limiting 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 allocated torque, determine the safe torque of the slipping shaft; The safety torque is used to determine the limiting torque.

5. The method according to any one of claims 1-4, characterized in that, Determining the safe torque of the slipping shaft based on the first allocated torque includes: Obtain the ground adhesion coefficient of the current driving 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 allocated torque and the safety factor.

6. The method according to claim 1, characterized in that, The slip shaft is determined as follows: Obtain the actual wheel speed signal and reference wheel speed signal of the drive shaft; the reference wheel speed signal is determined based on the first allocated torque; Based on the actual wheel speed signal and the reference wheel speed signal, determine whether the drive shaft is the slipping shaft.

7. The method according to claim 6, characterized in that, The step of determining whether the drive shaft is the slipping shaft based on the actual wheel speed signal and the reference wheel speed signal includes: If the duration of the wheel speed difference of the drive shaft being greater than the wheel speed threshold is 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.

8. The method according to any one of claims 1-4, characterized in that, The method further includes: After the slippage of the slipping shaft is eliminated, the second allocated torque and the updated limiting torque are obtained; the updated limiting torque is obtained by gradually updating the limiting torque based on a preset step size; If the updated limiting torque is less than the second allocated torque, the slipping shaft is torque allocated based on the updated limiting torque.

9. The method according to claim 8, characterized in that, The method further includes: If the updated limiting torque is greater than or equal to the second allocated torque, the slipping shaft is torque-distributed based on the second allocated torque.

10. A torque distribution device, characterized in that, The device includes: 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 slippery state; The determining unit is configured to determine a limiting torque for 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 characterize the shaft in the vehicle's drive shaft that slips; the first allocated torque is the torque allocated to the slipping shaft when it slips. The distribution unit is used to distribute torque to the drive shaft based on the first required torque and the limiting torque; Wherein, in the case that the vehicle is a dual-drive axle vehicle, determining the limiting 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 allocated torque, the safe torque of the slipping shaft is determined; the safe torque is used to characterize the torque boundary value of the slipping shaft in the critical state where slippage is about to occur. The limiting torque is determined based on the safety torque and the relationship between the first required torque and the second required torque.

11. A vehicle, characterized in that, The vehicle includes the torque distribution device as described in claim 10.

12. An electronic device, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is configured to execute the instructions to implement the method as described in any one of claims 1-9.

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