Vehicle, torque distribution determining method and device thereof, and control method and device thereof

Abstract

The invention discloses a vehicle, a torque distribution determining method and device thereof, and a control method and device thereof. The determining method comprises the steps that a user driving habit is obtained, and the user driving habit comprises the vehicle speed and the whole vehicle demand torque corresponding to the vehicle speed; carrying out torque distribution on the whole vehicle demand torque by utilizing a plurality of different torque distribution coefficients to obtain the driving demand torque of each driving motor under each torque distribution coefficient, and obtaining the rotating speed of each driving motor based on the vehicle speed; aiming at each torque distribution coefficient, controlling each driving motor by utilizing the corresponding driving demand torque and rotating speed, and obtaining the corresponding power consumption of the whole vehicle; and on the basis of the vehicle power consumption under each torque distribution coefficient, a torque distribution coefficient meeting a preset condition is obtained from the multiple different torque distribution coefficients, and a torque distribution coefficient corresponding to the vehicle speed and the vehicle demand torque is obtained. Therefore, by combining the real power consumption of the whole vehicle and the driving habit of the user, the torque distribution can better conform to the actual situation, and the driving range of the whole vehicle can be increased.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle control, and particularly to a vehicle, a method and device for determining torque distribution thereof, and a control method and device thereof. Background Art

[0002] Electric vehicles have excellent performances such as low pollution, rapid power response, and efficient drive systems. However, electric vehicles have the problem of insufficient driving range, resulting in range anxiety for users. Therefore, how to improve the driving range of electric vehicles is an important factor related to their development.

[0003] In the related art, the economic distribution coefficient of the vehicle is determined based on different states of the battery, and the optimal torque distribution of the vehicle is achieved based on the economic distribution coefficient to improve the driving range of the whole vehicle. However, this method does not consider the actual situation of the vehicle, which affects the improvement of the driving range of the whole vehicle. Summary of the Invention

[0004] In view of the above problems, the present application provides a vehicle, a method and device for determining torque distribution thereof, and a control method and device thereof. By combining the actual power consumption of the whole vehicle and the user's driving habits, the torque distribution can be made more in line with the actual situation, which is beneficial to improving the driving range of the whole vehicle.

[0005] In a first aspect, the present application provides a method for determining vehicle torque distribution. The vehicle includes a plurality of drive motors. The method includes: obtaining the user's driving habits, where the user's driving habits include the vehicle speed and the corresponding vehicle demand torque; using a plurality of different torque distribution coefficients to perform torque distribution on the vehicle demand torque to obtain the driving demand torque of each drive motor under each torque distribution coefficient, and obtaining the rotation speed of each drive motor based on the vehicle speed; for each torque distribution coefficient, controlling each drive motor using the corresponding driving demand torque and rotation speed, and obtaining the corresponding vehicle power consumption; based on the vehicle power consumption under each torque distribution coefficient, obtaining a torque distribution coefficient that meets the preset conditions from the plurality of different torque distribution coefficients, and obtaining the torque distribution coefficient corresponding to the vehicle speed and the vehicle demand torque.

[0006] In the technical solution of the embodiment of the present application, first, the driving habits of the user are obtained, that is, the vehicle speed and the corresponding vehicle demand torque, and the vehicle demand torque is torque-distributed using a plurality of different torque distribution coefficients to obtain the driving demand torque of each drive motor under each torque distribution coefficient. At the same time, the rotational speed of each drive motor is obtained based on the vehicle speed, and then for each torque distribution coefficient, each drive motor is controlled using the corresponding driving demand torque and rotational speed, and the corresponding vehicle power consumption is obtained. Finally, based on the vehicle power consumption under each torque distribution coefficient, a torque distribution coefficient is selected from a plurality of different torque distribution coefficients as the torque distribution coefficient corresponding to the user's driving habits. In this way, by combining the actual vehicle power consumption and the user's driving habits, the torque distribution can be made more in line with the actual situation, which is beneficial to improving the vehicle's cruising range.

[0007] In some embodiments, torque-distributing the vehicle demand torque using a plurality of different torque distribution coefficients to obtain the driving demand torque of each drive motor under each torque distribution coefficient includes: for each torque distribution coefficient, determining the torque distribution ratio of each drive motor based on the torque distribution coefficient; obtaining the product of the vehicle demand torque and the torque distribution ratio of each drive motor to obtain the driving demand torque of each drive motor under the torque distribution coefficient. In this way, for each torque distribution coefficient, the driving demand torque of the corresponding drive motor can be obtained through simple calculation.

[0008] In some embodiments, obtaining the rotational speed of each drive motor based on the vehicle speed includes: calculating the rotational speed of each drive motor based on the vehicle speed, the wheel radius, and the transmission ratio. In this way, based on the vehicle speed, the rotational speed of each drive motor can be obtained through simple calculation.

[0009] In some embodiments, obtaining the corresponding vehicle power consumption includes: obtaining the real-time power of each drive motor; calculating the corresponding vehicle power consumption based on the real-time power of each drive motor. In this way, by equating the real-time power of the drive motor to the vehicle power consumption, the complexity of obtaining the vehicle power consumption can be reduced under the condition of meeting the data reliability requirements.

[0010] In some embodiments, obtaining the actual power of each drive motor includes: obtaining the real-time voltage and real-time current of each drive motor; calculating the real-time power of each drive motor based on the real-time voltage and real-time current of each drive motor. In this way, the real-time power of the drive motor can be obtained without adding hardware (usually the motor control has the function of detecting voltage and current).

[0011] In some embodiments, based on the vehicle power consumption under each torque distribution coefficient, a torque distribution coefficient that meets the preset conditions is obtained from a plurality of different torque distribution coefficients to obtain a torque distribution coefficient corresponding to the vehicle speed and the required torque of the vehicle, including: obtaining the torque distribution coefficient corresponding to the minimum vehicle power consumption from a plurality of different torque distribution coefficients to obtain the torque distribution coefficient corresponding to the vehicle speed and the required torque of the vehicle. In this way, by using the torque distribution coefficient corresponding to the minimum vehicle power consumption as the torque distribution coefficient corresponding to the user's driving habits, the vehicle power consumption and the user's driving habits are combined, so that the torque distribution can be more in line with the actual situation, which is conducive to improving the vehicle's driving range.

[0012] In some embodiments, when the user's driving habits include multiple different vehicle speeds and the vehicle's required torque corresponding to each speed, each vehicle speed and the vehicle's required torque corresponding to each speed has a corresponding torque distribution coefficient. In this way, there is a torque distribution coefficient corresponding to different vehicle speeds and the vehicle's required torque corresponding to each speed, which can be applied to different driving conditions and is conducive to improving the vehicle's mileage under various driving conditions.

[0013] In a second aspect, the present application provides a vehicle control method, wherein the vehicle includes multiple drive motors, and the method includes: obtaining a target vehicle speed and a target vehicle demand torque corresponding to the target vehicle speed; based on the target vehicle speed and the target vehicle demand torque, obtaining a target torque distribution coefficient from a preset database, wherein the target torque distribution coefficient corresponds to the minimum vehicle power consumption; based on the target vehicle demand torque and the target torque distribution coefficient, determining a target drive demand torque for each drive motor, and determining a target speed for each drive motor based on the target vehicle speed; and controlling each drive motor according to the target drive demand torque and the target speed of each drive motor.

[0014] In the technical solution of the embodiment of the present application, the target vehicle speed and the target vehicle torque required corresponding to the target vehicle speed are first obtained, and based on the target vehicle speed and the target vehicle torque required, the target torque distribution coefficient is obtained from the preset database, and based on the target vehicle torque required and the target torque distribution coefficient, the target drive torque required of each drive motor is determined, and the target speed of each drive motor is determined based on the target vehicle speed, and then each drive motor is controlled according to the target drive torque required and the target speed of each drive motor. Since the target torque distribution coefficient is determined based on the target vehicle speed and the target vehicle torque required, and the vehicle power consumption corresponding to the target torque distribution coefficient is the smallest, it is beneficial to improve the driving range of the vehicle.

[0015] In some embodiments, the target torque distribution coefficient is determined in advance according to the aforementioned vehicle torque distribution determination method, which is beneficial to improving the vehicle's driving range.

[0016] In a third aspect, the present application provides a computer-readable storage medium, on which a program is stored, and when the program is executed by a processor, it implements the vehicle torque distribution determination method described above, or the vehicle control method described above.

[0017] In a fourth aspect, the present application provides an electronic device, including: a memory, a processor, and a program stored on the memory and executable on the processor. When the processor executes the program, it implements the vehicle torque distribution determination method described above, or the vehicle control method described above.

[0018] In a fifth aspect, the present application provides a vehicle, including: a memory, a processor, and a program stored on the memory and executable on the processor. When the processor executes the program, it implements the vehicle torque distribution determination method described above, or the vehicle control method described above.

[0019] In a sixth aspect, the present application provides a vehicle torque distribution determination device. The vehicle includes multiple drive motors. The device includes: a first acquisition module, configured to acquire a user driving habit, where the user driving habit includes a vehicle speed and a corresponding vehicle demand torque of the entire vehicle; a first distribution module, configured to perform torque distribution on the vehicle demand torque of the entire vehicle by using multiple different torque distribution coefficients to obtain the driving demand torque of each drive motor under each torque distribution coefficient, and obtain the rotation speed of each drive motor based on the vehicle speed; a first control module, for each torque distribution coefficient, controlling each drive motor by using the corresponding driving demand torque and rotation speed; the first acquisition module is further configured to acquire the vehicle power consumption under each torque distribution coefficient; a first determination module, configured to obtain a torque distribution coefficient that meets a preset condition from multiple different torque distribution coefficients based on the vehicle power consumption under each torque distribution coefficient, and obtain a torque distribution coefficient corresponding to the vehicle speed and the vehicle demand torque of the entire vehicle.

[0020] In a seventh aspect, the present application provides a vehicle control device. The vehicle includes multiple drive motors. The device includes: a second acquisition module, configured to acquire a target vehicle speed and a corresponding target vehicle demand torque of the entire vehicle; a second distribution module, configured to acquire a target torque distribution coefficient from a preset database based on the target vehicle speed and the target vehicle demand torque of the entire vehicle, where the vehicle power consumption corresponding to the target torque distribution coefficient is the smallest; a second determination module, configured to determine the target driving demand torque of each drive motor based on the target vehicle demand torque of the entire vehicle and the target torque distribution coefficient, and determine the target rotation speed of each drive motor based on the target vehicle speed; a second control module, configured to control each drive motor according to the target driving demand torque and the target rotation speed of each drive motor.

[0021] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of this application more obvious and understandable, the following specifically illustrates the specific implementation manners of this application. Brief Description of the Drawings

[0022] By reading the following detailed description of the preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of illustrating the preferred embodiments and are not considered to be a limitation of this application. And in all the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0023] Figure 1 is a schematic flowchart of a method for determining vehicle torque distribution according to an embodiment of this application.

[0024] Figure 2 is a schematic diagram of a vehicle control framework according to an embodiment of this application.

[0025] Figure 3 is a schematic flowchart of a vehicle control method according to an embodiment of this application.

[0026] Figure 4 is a schematic structural diagram of a device for determining vehicle torque distribution according to an embodiment of this application.

[0027] Figure 5 is a schematic structural diagram of a vehicle control device according to an embodiment of this application. Detailed Description of the Embodiments

[0028] The following will describe in detail the embodiments of the technical solution of this application with reference to the drawings. The following embodiments are only used to illustrate the technical solution of this application more clearly, so they are only examples and cannot be used to limit the protection scope of this application.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above description of the drawings are intended to cover non-exclusive inclusion.

[0030] In the description of the embodiments of this application, technical terms such as "first" and "second" are only used to distinguish different objects and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity, specific order or primary-secondary relationship of the indicated technical features. In the description of the embodiments of this application, "a plurality" means more than two unless otherwise specifically defined.

[0031] Reference to "embodiments" in this document means that the specific features, structures, or characteristics described in connection with the embodiments may be included in at least one embodiment of the present application. The phrase appearing at various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0032] In the description of the embodiments of the present application, the term "and / or" is merely a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this document generally represents an "or" relationship between the associated objects before and after.

[0033] In the description of the embodiments of the present application, the term "plurality" refers to two or more (including two). Similarly, "multiple groups" refers to two or more groups (including two groups), and "multiple pieces" refers to two or more pieces (including two pieces).

[0034] In the description of the embodiments of the present application, the orientation or positional relationship indicated by technical terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the embodiments of the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation on the embodiments of the present application.

[0035] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installation", "connection", "connection", "fixation", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can also be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0036] Currently, due to the low vehicle usage cost of electric vehicles, the market demand for them is continuously increasing. However, electric vehicles have the problem of insufficient driving range, resulting in range anxiety among users.

[0037] In the related art, an economic distribution coefficient of a vehicle is determined based on different states of a battery, and optimal torque distribution of the vehicle is achieved based on the economic distribution coefficient to improve the cruising range of the whole vehicle. However, this method does not consider the actual situation of the vehicle. For example, it does not consider the battery working conditions and drive motor working conditions of different vehicles, as well as the user driving habits, which affects the improvement of the cruising range of the whole vehicle.

[0038] Based on this, the present application provides a method for determining vehicle torque distribution. By abstracting the user driving habits into a vehicle speed-vehicle demand torque relationship curve, for each vehicle speed and the corresponding vehicle demand torque on the curve, the vehicle demand torque is torque-distributed using multiple different torque distribution coefficients to obtain the drive demand torque of each drive motor under each torque distribution coefficient. At the same time, the rotation speed of each drive motor is obtained based on the vehicle speed. Then, for each torque distribution coefficient, each drive motor is controlled using the corresponding drive demand torque and rotation speed, and the corresponding vehicle power consumption is obtained. Finally, based on the vehicle power consumption under each torque distribution coefficient, a torque distribution coefficient is selected from multiple different torque distribution coefficients as the torque distribution coefficient corresponding to the vehicle speed and the vehicle demand torque corresponding to the vehicle speed, so as to obtain the torque distribution coefficient corresponding to the user driving habits. In this way, by combining the actual vehicle power consumption and the user driving habits, the torque distribution can be made more in line with the actual situation, realizing more economical torque distribution, which is beneficial to improving the cruising range of the whole vehicle.

[0039] The vehicle torque distribution determination method disclosed in the embodiments of the present application can be used for vehicles driven by electricity, which can be, but is not limited to, pure electric dual-drive motor four-wheel drive vehicles, pure electric four-drive motor four-wheel drive vehicles, etc., and specific limitations are not made here.

[0040] The vehicle torque distribution determination method of the present application will be described below in conjunction with specific embodiments.

[0041] Figure 1 FIG. is a flowchart of a vehicle torque distribution determination method according to an embodiment of the present application. The vehicle includes multiple drive motors. For the convenience of description, the following embodiments will be described by taking a pure electric dual-drive motor four-wheel drive vehicle as an example. The dual-drive motors include a front drive motor and a rear drive motor.

[0042] Refer to Figure 1 , the vehicle torque distribution determination method includes:

[0043] S110, obtaining user driving habits, where the user driving habits include vehicle speed and the vehicle demand torque corresponding to the vehicle speed.

[0044] Specifically, a user's driving habit refers to some habits of the user when driving a vehicle. For example, suddenly stepping on the accelerator pedal, continuously driving at a high speed, and so on. In this application, the user's driving habits can be collected first. For example, by combining the throttle characteristics (Pedal Map) in the vehicle's vehicle control unit, the accelerator pedal opening signal, the vehicle speed signal, etc., the vehicle's total demand torque corresponding to the user at different vehicle speeds can be obtained, so as to abstract the user's driving habit into a vehicle speed-vehicle total demand torque curve, that is, the V-Tq curve, where V represents the vehicle speed and Tq represents the vehicle's total demand torque corresponding to the vehicle speed V.

[0045] S120, torque-distribute the vehicle's total demand torque using multiple different torque distribution coefficients to obtain the driving demand torque of each drive motor under each torque distribution coefficient, and obtain the rotational speed of each drive motor based on the vehicle speed.

[0046] Specifically, multiple different torque distribution coefficients can be set based on the actual situation. The more the number of multiple different torque distribution coefficients, the better the finally selected torque distribution coefficient. For example, multiple different torque distribution coefficients can be any value from 0 to 1.

[0047] For each vehicle speed and the corresponding vehicle's total demand torque on the user's vehicle speed-vehicle total demand torque curve, that is, for each set of data (V, Tq) on the V-Tq curve, the vehicle's total demand torque Tq will be torque-distributed using multiple preset different torque distribution coefficients to obtain the driving demand torque of each drive motor under each torque distribution coefficient. At the same time, the rotational speed of each drive motor is obtained based on the vehicle speed V. For example, by torque-distributing the vehicle's total demand torque Tq using multiple different torque distribution coefficients α, the driving demand torque Tq_f of the front drive motor and the driving demand torque Tq_r of the rear drive motor are obtained, and at the same time, the rotational speed N_f of the front drive motor and the rotational speed N_r of the rear drive motor are obtained based on the vehicle speed V.

[0048] Exemplarily, as shown in Table 1, for any (V, Tq), multiple different torque distribution coefficients α include the first torque distribution coefficient α_1, the second torque distribution coefficient α_2,..., the i-th torque distribution coefficient α_i. By torque-distributing the vehicle's total demand torque Tq using the first torque distribution coefficient α_1, the driving demand torque of the front drive motor is Tq_f1 and the driving demand torque of the rear drive motor is Tq_r1; by torque-distributing the vehicle's total demand torque Tq using the second torque distribution coefficient α_2, the driving demand torque of the front drive motor is Tq_f2 and the driving demand torque of the rear drive motor is Tq_r2;...; and so on. The driving demand torque of the front drive motor and the driving demand torque of the rear drive motor under each torque distribution coefficient can be obtained.

[0049] Since the torque distribution coefficient has no effect on the rotational speeds of the drive motors, at the same vehicle speed V, the rotational speeds of the same drive motor under different torque distribution coefficients are the same. For example, the rotational speed of the front drive motor is N_f and the rotational speed of the rear drive motor is N_r. When the transmission ratios of the different drive motors are the same, the rotational speeds of the different drive motors are basically the same. Therefore, the rotational speed of the front drive motor and the rotational speed of the rear drive motor are basically the same, that is, N_f is equal to N_r.

[0050] Table 1

[0051]

[0052] It should be noted that for each set of data (V, Tq) on the V-Tq curve, there is a corresponding Table 1.

[0053] S130. For each torque distribution coefficient, control each drive motor using the corresponding drive demand torque and rotational speed, and obtain the corresponding vehicle power consumption.

[0054] Specifically, for each set of data (V, Tq) on the V-Tq curve, after obtaining the drive demand torques and rotational speeds of each drive motor under multiple different torque distribution coefficients through the foregoing method, each drive motor can be controlled based on the drive demand torque and rotational speed, and at the same time, the vehicle power consumption can be obtained.

[0055] Exemplarily, as shown in Table 1, after obtaining the drive demand torque Tq_f1 of the front drive motor and the drive demand torque Tq_r1 of the rear drive motor corresponding to the first torque distribution coefficient α_1, the front drive motor can be controlled based on the drive demand torque Tq_f1 and rotational speed N_f of the front drive motor, and the rear drive motor can be controlled based on the drive demand torque Tq_r1 and rotational speed N_r of the rear drive motor. After the control is stable, the vehicle power consumption can be obtained, thereby obtaining the vehicle power consumption Pwr_tot1 corresponding to the first torque distribution coefficient α_1; after obtaining the drive demand torque Tq_f2 of the front drive motor and the drive demand torque Tq_r2 of the rear drive motor corresponding to the second torque distribution coefficient α_2, the front drive motor can be controlled based on the drive demand torque Tq_f2 and rotational speed N_f of the front drive motor, and the rear drive motor can be controlled based on the drive demand torque Tq_r2 and rotational speed N_r of the rear drive motor. After the control is stable, the vehicle power consumption can be obtained, thereby obtaining the vehicle power consumption Pwr_tot2 corresponding to the second torque distribution coefficient α_2;...; and so on. The vehicle power consumption corresponding to each torque distribution coefficient can be obtained, as specifically shown in Table 2:

[0056] Table 2

[0057]

[0058] It should be noted that for each set of data (V, Tq) on the V-Tq curve, there is a corresponding Table 2.

[0059] S140, based on the vehicle's overall power consumption at each torque distribution coefficient, obtain the torque distribution coefficient that meets the preset conditions from multiple different torque distribution coefficients, and obtain the torque distribution coefficient corresponding to the vehicle speed and the vehicle's required torque.

[0060] Specifically, for each set of data (V, Tq) on the V-Tq curve, after obtaining the vehicle's overall power consumption at multiple different torque distribution coefficients through the aforementioned method, a relatively optimal torque distribution coefficient can be screened from multiple different torque distribution coefficients based on the overall power consumption to obtain better economy.

[0061] Exemplarily, as shown in Table 2, a relatively optimal torque distribution coefficient can be screened from multiple different torque distribution coefficients α_1, α_2,..., α_i based on the overall power consumption Pwr_tot1, Pwr_tot2,..., Pwr_toti to serve as the torque distribution coefficient corresponding to the current (V, Tq).

[0062] It should be noted that for each set of data (V, Tq) on the V-Tq curve, there is a corresponding relatively optimal torque distribution coefficient.

[0063] In the above embodiments, the vehicle speed and the vehicle's required torque corresponding to the vehicle speed are obtained as the user's driving habit, and the required torque of the vehicle is torque-distributed using multiple different torque distribution coefficients to obtain the driving required torque of each drive motor at each torque distribution coefficient. At the same time, the rotational speed of each drive motor is obtained based on the vehicle speed. Then, for each torque distribution coefficient, each drive motor is controlled using the corresponding driving required torque and rotational speed, and the corresponding vehicle's overall power consumption is obtained. Finally, based on the vehicle's overall power consumption at each torque distribution coefficient, a torque distribution coefficient is selected from multiple different torque distribution coefficients as the torque distribution coefficient corresponding to the user's driving habit. In this way, by combining the actual vehicle's overall power consumption and the user's driving habit, the torque distribution can be made more in line with the actual situation, achieving more economical torque distribution, which is beneficial to improving the vehicle's cruising range.

[0064] In some embodiments, the required torque of the vehicle is torque-distributed using multiple different torque distribution coefficients to obtain the driving required torque of each drive motor at each torque distribution coefficient, including: for each torque distribution coefficient, determining the torque distribution ratio of each drive motor based on this torque distribution coefficient; obtaining the product of the vehicle's required torque and the torque distribution ratio of each drive motor to obtain the driving required torque of each drive motor at this torque distribution coefficient.

[0065] Specifically, taking the front drive motor and the rear drive motor as examples, the torque distribution coefficient can be the torque distribution ratio of the front drive motor or the torque distribution ratio of the rear drive motor. Since the sum of the torque distribution ratio of the front drive motor and the torque distribution ratio of the rear drive motor is 1, after obtaining the torque distribution ratio of one of the drive motors, the torque distribution ratio of the other drive motor can be calculated based on the aforementioned relationship. Then, multiplying the torque distribution ratio of each drive motor by the vehicle's required torque can obtain the drive required torque of each drive motor.

[0066] Exemplarily, as shown in Table 1, assuming that the torque distribution coefficient α is the torque distribution ratio of the front drive motor, then the drive required torque of the front drive motor is Tq_f = Tq × α, and the drive required torque of the rear drive motor is Tq_r = Tq × (1 - α). Further, taking the first torque distribution coefficient α_1 as an example, the drive required torque of the corresponding front drive motor is Tq_f1 = Tq × α_1, and the drive required torque of the corresponding rear drive motor is Tq_r1 = Tq × (1 - α_1).

[0067] In this way, for each torque distribution coefficient, the drive required torque of each corresponding drive motor can be obtained through simple calculations.

[0068] In some embodiments, obtaining the rotational speed of each drive motor based on the vehicle speed includes: calculating the rotational speed of each drive motor based on the vehicle speed, the wheel radius, and the transmission ratio.

[0069] Specifically, since the torque distribution coefficient has no effect on the rotational speed of each drive motor, the rotational speed of the same drive motor under different torque distribution coefficients is the same. For example, for the same vehicle speed, the rotational speed of the front drive motor is the same under different torque distribution coefficients, and the rotational speed of the rear drive motor is the same under different torque distribution coefficients. For the same vehicle speed, under different torque distribution coefficients, when the transmission ratios of different drive motors are the same, the rotational speed of the front drive motor and the rotational speed of the rear drive motor are basically the same. Therefore, it is only necessary to calculate the rotational speed of each drive motor based on the vehicle speed, the wheel radius, and the transmission ratio. Exemplarily, the rotational speed of the front drive motor and the rotational speed of the rear drive motor are calculated through the following formulas:

[0070]

[0071] where N_f is the rotational speed of the front drive motor, N_r is the rotational speed of the rear drive motor, V is the vehicle speed (in meters per minute), R is the wheel radius, and r is the transmission ratio.

[0072] In this way, based on the vehicle speed, the rotational speed of each drive motor can be obtained through simple calculations.

[0073] In some embodiments, obtaining the corresponding vehicle power consumption includes: obtaining the real-time power of each drive motor; and calculating the corresponding vehicle power consumption based on the real-time power of each drive motor.

[0074] Specifically, the sum of the real-time powers of the drive motors can be equivalent to the vehicle power consumption. In this way, the complexity of obtaining the vehicle power consumption can be reduced under the condition of meeting the data reliability requirements.

[0075] Exemplarily, as shown in Table 1, after obtaining the drive demand torque Tq_f1 of the front drive motor and the drive demand torque Tq_r1 of the rear drive motor corresponding to the first torque distribution coefficient α_1, the front drive motor can be controlled based on the drive demand torque Tq_f1 and the rotational speed N_f of the front drive motor, and the rear drive motor can be controlled based on the drive demand torque Tq_r1 and the rotational speed N_r of the rear drive motor. After the control is stable, the real-time power of the front drive motor and the real-time power of the rear drive motor can be obtained, and the real-time power of the front drive motor and the real-time power of the rear drive motor are summed to obtain the vehicle power consumption Pwr_tot1 corresponding to the first torque distribution coefficient α_1;...; and so on. The vehicle power consumption corresponding to each torque distribution coefficient can be obtained, as specifically shown in Table 3:

[0076] Table 3

[0077]

[0078]

[0079] It should be noted that there is a Table 3 corresponding to each set of data (V, Tq) on the V-Tq curve.

[0080] In this way, by equating the real-time power of the drive motors to the vehicle power consumption, the complexity of obtaining the vehicle power consumption can be reduced under the condition of meeting the data reliability requirements.

[0081] In some embodiments, obtaining the actual power of each drive motor includes: obtaining the real-time voltage and real-time current of each drive motor; and calculating the real-time power of each drive motor based on the real-time voltage and real-time current of each drive motor.

[0082] Specifically, when controlling a drive motor, parameters such as the voltage and current of the drive motor usually need to be obtained. On the one hand, it can achieve stable control of the drive motor, and on the other hand, it can achieve protection of the drive motor. Therefore, in this application, when obtaining the real-time power of the drive motor, the real-time power of the drive motor can be directly calculated based on the obtained real-time voltage and real-time current of the drive motor. For example, the real-time voltage and real-time current are multiplied to obtain the real-time power of the drive motor.

[0083] Exemplarily, taking the first torque distribution coefficient α_1 as an example, the real-time voltage Uf1 of the front drive motor can be obtained by real-time sampling through the voltage detection circuit arranged on the front drive motor, and the real-time current If1 of the front drive motor can be obtained by real-time sampling through the current detection circuit arranged on the front drive motor. Then, the product of the two is calculated to obtain the real-time power Pwr_f1 of the front drive motor; meanwhile, the real-time voltage Ur1 of the rear drive motor is obtained by real-time sampling through the voltage detection circuit arranged on the rear drive motor, and the real-time current Ir1 of the rear drive motor is obtained by real-time sampling through the current detection circuit arranged on the rear drive motor. Then, the product of the two is calculated to obtain the real-time power Pwr_r1 of the rear drive motor.

[0084] In this way, the real-time power of the drive motor can be obtained without adding hardware.

[0085] In some embodiments, based on the vehicle power consumption under each torque distribution coefficient, a torque distribution coefficient that meets the preset conditions is obtained from multiple different torque distribution coefficients, and the torque distribution coefficient corresponding to the vehicle speed and the vehicle demand torque is obtained, including: obtaining the torque distribution coefficient corresponding to the minimum vehicle power consumption from multiple different torque distribution coefficients, and obtaining the torque distribution coefficient corresponding to the vehicle speed and the vehicle demand torque.

[0086] That is to say, the torque distribution coefficient corresponding to the minimum vehicle power consumption (i.e., the lowest energy consumption) is used as the torque distribution coefficient corresponding to the current vehicle speed and the vehicle demand torque corresponding to the vehicle speed.

[0087] Exemplarily, as shown in Table 2, a minimum value can be obtained from the vehicle power consumptions Pwr_tot1, Pwr_tot2,..., Pwr_toti, and then the torque distribution coefficient corresponding to this minimum value, such as the first torque distribution coefficient α_1, is used as the torque distribution coefficient corresponding to the current (V, Tq), that is, the relatively optimal torque distribution coefficient corresponding to the current (V, Tq).

[0088] It should be noted that for each set of data (V, Tq) on the V-Tq curve, there is a torque distribution coefficient corresponding to the minimum vehicle power consumption, that is, the relatively optimal torque distribution coefficient.

[0089] In this way, by using the torque distribution coefficient corresponding to the minimum vehicle power consumption as the torque distribution coefficient corresponding to the user's driving habit, combining the vehicle power consumption and the user's driving habit, the torque distribution can be made more in line with the actual situation, which is beneficial to improving the vehicle's cruising range.

[0090] In some embodiments, when the user's driving habit includes multiple different vehicle speeds and the vehicle demand torque corresponding to each vehicle speed, each vehicle speed and the vehicle demand torque corresponding to each vehicle speed have a torque distribution coefficient.

[0091] Specifically, when a user is driving a vehicle, there will be multiple different vehicle speeds and the corresponding vehicle demand torques for each vehicle speed. Therefore, the user's driving habits include multiple different vehicle speeds and the corresponding vehicle demand torques for each vehicle speed, that is, the aforementioned V-Tq curve. For each set of data (V, Tq) on the V-Tq curve, there is a corresponding torque distribution coefficient, so that the obtained torque distribution coefficient can be applied to different driving conditions, which is beneficial to improving the vehicle's cruising range under various driving conditions.

[0092] Exemplarily, Table 4 shows the torque distribution coefficients corresponding to multiple different vehicle speeds and the corresponding vehicle demand torques for each vehicle speed, the driving demand torques and speeds of the front drive motor, the driving demand torques and speeds of the rear drive motor, the real-time power of the front drive motor, the real-time power of the rear drive motor, and the vehicle power consumption. Table 5 shows the minimum vehicle power consumption corresponding to multiple different vehicle speeds and the corresponding vehicle demand torques for each vehicle speed and the torque distribution coefficient corresponding to the minimum vehicle power consumption. It can be seen from Table 4 and Table 5 that for each vehicle speed and the corresponding vehicle demand torque, through the aforementioned method, a relatively optimal torque distribution coefficient can be obtained.

[0093] Table 4

[0094]

[0095]

[0096] It should be noted that the multiple different torque distribution coefficients corresponding to different vehicle speeds and the corresponding vehicle demand torques for each vehicle speed can be the same or different, and there is no restriction here.

[0097] Table 5

[0098] Vehicle demand torque Vehicle speed Optimal torque distribution coefficient Minimum vehicle power consumption Tq_1 V_1 α_1_optimal Pwr_1_tot_Min Tq_2 V_2 α_2_optimal Pwr_2_tot_Min … … … … Tq_j V_j α_j_optimal Pwr_j_tot_Min

[0099] In this way, for different vehicle speeds and the corresponding vehicle demand torques for each vehicle speed, there is a corresponding torque distribution coefficient, which can be applied to different driving conditions and is beneficial to improving the vehicle's cruising range under various driving conditions.

[0100] The method for determining vehicle torque distribution in this application can be implemented by the cooperation of the vehicle and the cloud platform, or can be implemented by the vehicle. Hereinafter, an example of the cooperation between the vehicle and the cloud platform will be used for illustration.

[0101] Exemplarily, referring to Figure 2, In the first step, the driving habits of the user are collected first. For example, the vehicle's vehicle control unit can obtain the accelerator pedal opening through the accelerator pedal sensor, obtain the wheel speed through the wheel speed sensor, calculate the vehicle speed V based on the wheel speed, and then calculate the corresponding vehicle demand torque Tq based on the accelerator pedal opening, vehicle speed V, and the throttle characteristics in the vehicle control unit, so as to obtain the vehicle demand torque Tq corresponding to the user at different vehicle speeds V, and upload the different vehicle speeds V of the user and the vehicle demand torque Tq corresponding to the vehicle speed V to the cloud platform. The cloud platform can abstract a V-Tq curve of this user, that is, the driving habit, through the big data uploaded by the vehicle control unit, namely different vehicle speeds V and the vehicle demand torque Tq corresponding to the vehicle speed V.

[0102] In the second step, the driving demand torques of the front drive motor and the rear drive motor are obtained by decomposing the user's driving habit. For example, referring to Table 4, the cloud platform first sets multiple different torque distribution coefficients such as the first torque distribution coefficient α_1_1, the second torque distribution coefficient α_1_2, etc. for the vehicle speed V_1 and the vehicle demand torque Tq_1 corresponding to the vehicle speed V_1, that is, (V_1, Tq_1); then, the first torque distribution coefficient α_1_1 is sent to the vehicle control unit. After obtaining the first torque distribution coefficient α_1_1, the vehicle control unit converts it into the driving demand torque Tq_1_f1 of the front drive motor and the driving demand torque Tq_1_r1 of the rear drive motor, and at the same time calculates the rotational speed N_1_f of the front drive motor and the rotational speed N_1_r of the rear drive motor based on the vehicle speed V_1, and sends the driving demand torque Tq_1_f1 and the rotational speed N_1_f of the front drive motor to the front drive motor controller to control the front drive motor through the front drive motor controller, and sends the driving demand torque Tq_1_r1 and the rotational speed N_1_r of the rear drive motor to the rear drive motor controller to control the rear drive motor through the rear drive motor controller.

[0103] In the third step, the vehicle power consumption is obtained. For example, when the front drive motor controller controls the front drive motor based on the driving demand torque Tq_1_f1 and the rotational speed N_1_f of the front drive motor, it obtains the real-time voltage and real-time current of the front drive and uploads them to the cloud platform. When the rear drive motor controller controls the rear drive motor based on the driving demand torque Tq_1_r1 and the rotational speed N_1_r of the rear drive motor, it obtains the real-time voltage and real-time current of the rear drive and uploads them to the cloud platform; then, the cloud platform calculates the real-time power Pwr_1_f1 of the front drive motor based on the real-time voltage and real-time current of the front drive motor, calculates the real-time power Pwr_1_r1 of the rear drive motor based on the real-time voltage and real-time current of the rear drive motor, and adds the real-time power of the front drive motor and the real-time power of the rear drive motor to obtain the vehicle power consumption Pwr_1_tot1 corresponding to the first torque distribution coefficient α_1_1.

[0104] According to the aforementioned second and third steps, the vehicle power consumption corresponding to the remaining torque distribution coefficients of (V_1, Tq_1) is obtained in sequence, which are vehicle power consumption Pwr_1_tot2, etc. In the same way, the vehicle power consumption corresponding to each torque distribution coefficient of (V_2, Tq_2) can be obtained, which are vehicle power consumption Pwr_2_tot1, Pwr_2_tot2, etc.,..., and the vehicle power consumption corresponding to each torque distribution coefficient of (V_j, Tq_j) are vehicle power consumption Pwr_j_tot1, Pwr_j_tot2, etc.

[0105] Fourth step, identify the optimal torque distribution ratio for the same vehicle speed and the vehicle demand torque corresponding to the vehicle speed. For example, for the vehicle speed V_1 and the vehicle demand torque Tq_1 corresponding to the vehicle speed V_1, that is, (V_1, Tq_1), the cloud platform will find the minimum vehicle power consumption Pwr_1_tot_Min from the obtained vehicle power consumption Pwr_1_tot1, Pwr_1_tot2,... and use the torque distribution coefficient corresponding to this minimum vehicle power consumption as the optimal torque distribution coefficient α_1_optimal of (V_1, Tq_1), as shown in Table 5. Assume that the minimum vehicle power consumption Pwr_1_tot_Min is the vehicle power consumption Pwr_1_tot1, then the optimal torque distribution coefficient α_1_optimal of (V_1, Tq_1) is the first torque distribution coefficient α_1_1.

[0106] In the same way, the optimal torque distribution coefficients α_2_optimal of (V_2, Tq_2),..., and the optimal torque distribution coefficients α_j_optimal of (V_j, Tq_j) can be obtained in sequence, as shown in Table 5.

[0107] Fifth step, obtain the torque distribution coefficient corresponding to the user's driving habit, as shown in Table 5.

[0108] In this way, based on the electric drive energy consumption of the actual vehicle and the user's driving habit, a more optimal torque distribution can be achieved, which is beneficial to improving the vehicle's cruising range.

[0109] In some embodiments, a vehicle control method is also provided.

[0110] Figure 3 It is a flow schematic diagram of a vehicle control method according to an embodiment of the present application. The vehicle includes multiple drive motors. Refer to Figure 3 , the vehicle control method includes:

[0111] S310, obtain the target vehicle speed and the target vehicle demand torque corresponding to the target vehicle speed.

[0112] Specifically, the target vehicle speed refers to the vehicle speed that the vehicle is expected to reach, and the target vehicle demand torque refers to the torque that the vehicle is expected to provide. The target vehicle speed and the target vehicle demand torque can be calculated based on the user's operations on the accelerator pedal, etc. There is no limitation on how to obtain them here.

[0113] S320. Based on the target vehicle speed and the target vehicle demand torque, obtain the target torque distribution coefficient from a preset database, where the vehicle power consumption corresponding to the target torque distribution coefficient is the smallest.

[0114] Specifically, the torque distribution coefficients corresponding to the vehicle speed and the vehicle demand torque can be obtained in advance, and the vehicle speed, the vehicle demand torque, and the torque distribution coefficients are stored in the database in a corresponding manner. When the vehicle is running, after obtaining the target vehicle speed and the target vehicle demand torque, the corresponding target torque distribution coefficient can be found from the database. Since the obtained target torque distribution coefficient corresponds to the target vehicle speed and the target vehicle demand torque, and the vehicle power consumption is the smallest, using the target torque distribution coefficient at the target vehicle speed and the target vehicle demand torque can achieve better economy.

[0115] In some embodiments, the target torque distribution coefficient is determined in advance according to the aforementioned vehicle torque distribution determination method. For specific reference, refer to the foregoing, and details will not be elaborated here.

[0116] S330. Based on the target vehicle demand torque and the target torque distribution coefficient, determine the target drive demand torque of each drive motor, and based on the target vehicle speed, determine the target speed of each drive motor.

[0117] Specifically, still taking a pure electric dual-drive motor four-wheel drive vehicle as an example. After obtaining the target torque distribution coefficient, the torque distribution ratio of the front drive motor and the torque distribution ratio of the rear drive motor can be determined. For example, when the target torque distribution coefficient is the torque distribution ratio of the front drive motor, the torque distribution ratio of the rear drive motor is 1 - the torque distribution ratio of the front drive motor; then, multiply the torque distribution ratio of the front drive motor by the target vehicle demand torque to obtain the target drive demand torque of the front drive motor, and multiply the torque distribution ratio of the rear drive motor by the target vehicle demand torque to obtain the target drive demand torque of the rear drive motor; at the same time, based on the target vehicle speed, the wheel radius, and the transmission ratio, the speeds of the front drive motor and the rear drive motor can be calculated.

[0118] S340. Control each drive motor according to the target drive demand torque and the target speed of each drive motor.

[0119] Specifically, still taking a pure electric dual-drive motor four-wheel drive vehicle as an example. The front drive motor can be controlled based on the target drive demand torque and the speed of the front drive motor, and the rear drive motor can be controlled based on the target drive demand torque and the speed of the rear drive motor.

[0120] Exemplarily, referring to Figure 2 , the vehicle controller can obtain the target vehicle speed and the target vehicle demand torque based on the user's operation on the vehicle, and then based on the target vehicle speed and the target vehicle demand torque, obtain the corresponding target torque distribution coefficient from a preset database (which can be located in the internal or external memory of the vehicle controller). Based on this target torque distribution coefficient and the target vehicle demand torque, calculate the target drive demand torque of the front drive motor and the target drive demand torque of the rear drive motor, and at the same time calculate the rotational speed of the front drive motor and the rotational speed of the rear drive motor based on the target vehicle speed; then, the vehicle controller sends the target drive demand torque and rotational speed of the front drive motor to the front drive motor controller, which controls the front drive motor, and at the same time sends the target drive demand torque and rotational speed of the rear drive motor to the rear drive motor controller, which controls the rear drive motor. Since the pre-determined target torque distribution coefficient can minimize the vehicle power consumption for the target vehicle speed and the target vehicle demand torque, the economy of the vehicle can be optimized, which is beneficial to improving the cruising range of the vehicle.

[0121] In the above embodiment, the pre-determined target torque distribution coefficient can minimize the vehicle power consumption for the corresponding target vehicle speed and the target vehicle demand torque, so the economy of the vehicle can be optimized, which is beneficial to improving the cruising range of the vehicle.

[0122] In some embodiments, a computer-readable storage medium is also provided, on which a program is stored, and when the program is executed by a processor, it implements the foregoing vehicle torque distribution determination method, or the foregoing vehicle control method.

[0123] It should be noted that the above explanations of the embodiments and beneficial effects of the vehicle torque distribution determination method, or the vehicle control method, also apply to the computer-readable storage medium of the embodiments of the present application. To avoid redundancy, no detailed elaboration is made here.

[0124] In some embodiments, an electronic device is also provided, including: a memory, a processor, and a program stored on the memory and executable on the processor. When the processor executes the program, it implements the foregoing vehicle torque distribution determination method, or the foregoing vehicle control method. Among them, the electronic device can be a cloud server, etc., or a controller on the vehicle, etc., and no specific limitation is made here.

[0125] It should be noted that the above explanations of the embodiments and beneficial effects of the vehicle torque distribution determination method and the vehicle control method also apply to the electronic device of the embodiments of the present application. To avoid redundancy, no detailed elaboration is made here.

[0126] In some embodiments, a vehicle is further provided, including: a memory, a processor, and a program stored on the memory and executable on the processor. When the processor executes the program, the foregoing vehicle torque distribution determination method or the foregoing vehicle control method is implemented.

[0127] It should be noted that the above explanations of the embodiments and beneficial effects of the vehicle torque distribution determination method and the vehicle control method are also applicable to the vehicle in the embodiments of the present application. To avoid redundancy, no detailed expansion will be made here.

[0128] In some embodiments, a vehicle torque distribution determination device is further provided.

[0129] Referring to Figure 4 , the vehicle torque distribution determination device 400 includes: a first acquisition module 410, a first distribution module 420, a first control module 430, and a first determination module 440.

[0130] Among them, the first acquisition module 410 is used to acquire the user's driving habits, and the user's driving habits include the vehicle speed and the vehicle's overall demand torque corresponding to the vehicle speed; the first distribution module 420 is used to perform torque distribution on the vehicle's overall demand torque by using multiple different torque distribution coefficients, obtain the driving demand torque of each drive motor under each torque distribution coefficient, and obtain the rotation speed of each drive motor based on the vehicle speed; the first control module 430 is used to control each drive motor by using the corresponding driving demand torque and rotation speed for each torque distribution coefficient; the first acquisition module 410 is further used to acquire the vehicle's overall power consumption under each torque distribution coefficient; the first determination module 440 is used to obtain the torque distribution coefficient that meets the preset conditions from multiple different torque distribution coefficients based on the vehicle's overall power consumption under each torque distribution coefficient, and obtain the torque distribution coefficient corresponding to the vehicle speed and the vehicle's overall demand torque.

[0131] According to an embodiment of the present application, the first distribution module 420 is specifically used for: for each torque distribution coefficient, determining the torque distribution ratio of each drive motor based on the torque distribution coefficient; obtaining the product of the vehicle's overall demand torque and the torque distribution ratio of each drive motor, and obtaining the driving demand torque of each drive motor under the torque distribution coefficient.

[0132] According to an embodiment of the present application, the first distribution module 420 is specifically used for: calculating the rotation speed of each drive motor based on the vehicle speed, the wheel radius, and the transmission ratio.

[0133] According to an embodiment of the present application, the first acquisition module 410 is specifically used for: acquiring the real-time power of each drive motor; calculating the corresponding vehicle's overall power consumption based on the real-time power of each drive motor.

[0134] According to an embodiment of the present application, the first acquisition module 410 is specifically configured to: acquire the real-time voltage and real-time current of each drive motor; calculate the real-time power of each drive motor based on the real-time voltage and real-time current of each drive motor.

[0135] According to an embodiment of the present application, the first determination module 440 is specifically configured to: obtain the torque distribution coefficient corresponding to the minimum vehicle power consumption from multiple different torque distribution coefficients, and obtain the torque distribution coefficient corresponding to the vehicle speed and the vehicle demand torque.

[0136] According to an embodiment of the present application, when the user driving habits include multiple different vehicle speeds and the vehicle demand torque corresponding to each vehicle speed, each vehicle speed and the vehicle demand torque corresponding to each vehicle speed correspond to a torque distribution coefficient.

[0137] It should be noted that the above explanations of the embodiments and beneficial effects of the vehicle torque distribution determination method are also applicable to the vehicle torque distribution determination device of the embodiments of the present application. To avoid redundancy, no detailed expansion is made here.

[0138] In some embodiments, a vehicle control device is also provided.

[0139] Refer to Figure 5 , the vehicle control device 500 includes: a second acquisition module 510, a second distribution module 520, a second determination module 530, and a second control module 540.

[0140] Among them, the second acquisition module 510 is used to acquire the target vehicle speed and the target vehicle demand torque corresponding to the target vehicle speed; the second distribution module 520 is used to acquire the target torque distribution coefficient from the preset database based on the target vehicle speed and the target vehicle demand torque, where the vehicle power consumption corresponding to the target torque distribution coefficient is the smallest; the second determination module 530 is used to determine the target drive demand torque of each drive motor based on the target vehicle demand torque and the target torque distribution coefficient, and determine the target speed of each drive motor based on the target vehicle speed; the second control module 540 is used to control each drive motor according to the target drive demand torque and the target speed of each drive motor.

[0141] It should be noted that the above explanations of the embodiments and beneficial effects of the vehicle control method are also applicable to the vehicle control device of the embodiments of the present application. To avoid redundancy, no detailed expansion is made here.

[0142] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than limiting them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the various embodiments of the present application, and they should all be covered within the scope of the claims and the description of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in each embodiment can be combined in any way. The present application is not limited to the specific embodiments disclosed in the text, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A method for determining vehicle torque distribution, characterized in that: The vehicle includes a plurality of drive motors, and the method includes: Acquiring a user's driving habits, wherein the user's driving habits include a vehicle speed and a vehicle required torque corresponding to the vehicle speed; Distributing the required torque of the whole vehicle by using a plurality of different torque distribution coefficients to obtain the required driving torque of each driving motor under each torque distribution coefficient, and obtaining the rotation speed of each driving motor based on the vehicle speed; For each torque distribution coefficient, each drive motor is controlled using the corresponding drive demand torque and speed, and the corresponding vehicle power consumption is obtained; Based on the power consumption of the whole vehicle under each torque distribution coefficient, a torque distribution coefficient that meets a preset condition is obtained from a plurality of different torque distribution coefficients to obtain a torque distribution coefficient corresponding to the vehicle speed and the required torque of the whole vehicle.

2. The method according to claim 1, characterized in that The method of using a plurality of different torque distribution coefficients to distribute the required torque of the vehicle to obtain the required driving torque of each driving motor under each torque distribution coefficient includes: For each torque distribution coefficient, determining a torque distribution ratio of each drive motor based on the torque distribution coefficient; The product of the vehicle demand torque and the torque distribution ratio of each drive motor is obtained to obtain the drive demand torque of each drive motor under the torque distribution coefficient.

3. The method according to claim 1, characterized in that The obtaining the rotation speed of each driving motor based on the vehicle speed includes: Based on the vehicle speed, wheel radius and transmission ratio, the rotation speed of each drive motor is calculated.

4. The method according to claim 1, characterized in that: The obtaining of the corresponding vehicle power consumption includes: Get the real-time power of each drive motor; Based on the real-time power of each drive motor, the corresponding vehicle power consumption is calculated.

5. The method according to claim 4, characterized in that The obtaining of the actual power of each driving motor includes: Obtain the real-time voltage and current of each drive motor; Based on the real-time voltage and real-time current of each drive motor, the real-time power of each drive motor is calculated.

6. The method according to claim 1, characterized in that The method of obtaining a torque distribution coefficient that satisfies a preset condition from a plurality of different torque distribution coefficients based on the vehicle power consumption under each torque distribution coefficient, and obtaining a torque distribution coefficient corresponding to the vehicle speed and the vehicle required torque, includes: The torque distribution coefficient corresponding to the minimum power consumption of the whole vehicle is obtained from a plurality of different torque distribution coefficients, so as to obtain the torque distribution coefficient corresponding to the vehicle speed and the required torque of the whole vehicle.

7. The method according to any one of claims 1 to 6, characterized in that: When the user's driving habits include a plurality of different vehicle speeds and the vehicle's required torque corresponding to each vehicle speed, each vehicle speed and the vehicle's required torque corresponding to each vehicle speed corresponds to a torque distribution coefficient.

8. A vehicle control method, characterized in that: The vehicle includes a plurality of drive motors, and the method includes: Obtaining a target vehicle speed and a target vehicle required torque corresponding to the target vehicle speed; Based on the target vehicle speed and the target vehicle required torque, a target torque distribution coefficient is obtained from a preset database, wherein the target torque distribution coefficient corresponds to the minimum vehicle power consumption; Determining a target driving demand torque of each driving motor based on the target vehicle demand torque and the target torque distribution coefficient, and determining a target rotation speed of each driving motor based on the target vehicle speed; Each drive motor is controlled according to the target drive demand torque and target speed of each drive motor.

9. The method according to claim 8, characterized in that The target torque distribution coefficient is determined in advance according to the vehicle torque distribution determination method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: A program is stored thereon, and when the program is executed by a processor, the vehicle torque distribution determination method according to any one of claims 1-7, or the vehicle control method according to any one of claims 8-9 is implemented.

11. An electronic device, characterized in that: include: A memory, a processor, and a program stored in the memory and executable on the processor. When the processor executes the program, the vehicle torque distribution determination method according to any one of claims 1 to 7 or the vehicle control method according to any one of claims 8 to 9 is implemented.

12. A vehicle, characterized in that: include: A memory, a processor, and a program stored in the memory and executable on the processor. When the processor executes the program, the vehicle torque distribution determination method according to any one of claims 1 to 7 or the vehicle control method according to any one of claims 8 to 9 is implemented.

13. A vehicle torque distribution determination device, characterized in that: The vehicle includes a plurality of drive motors, and the device includes: A first acquisition module is used to acquire a user's driving habits, wherein the user's driving habits include a vehicle speed and a vehicle required torque corresponding to the vehicle speed; A first allocation module, configured to allocate the required torque of the vehicle using a plurality of different torque allocation coefficients, obtain the required driving torque of each driving motor under each torque allocation coefficient, and obtain the rotation speed of each driving motor based on the vehicle speed; A first control module controls each drive motor using a corresponding drive demand torque and speed for each torque distribution coefficient; The first acquisition module is further used to acquire the power consumption of the whole vehicle under each torque distribution coefficient; The first determination module is used to obtain a torque distribution coefficient that meets a preset condition from a plurality of different torque distribution coefficients based on the vehicle power consumption under each torque distribution coefficient, and obtain a torque distribution coefficient corresponding to the vehicle speed and the vehicle required torque.

14. A vehicle control device, characterized in that: The vehicle includes a plurality of drive motors, and the device includes: A second acquisition module is used to acquire a target vehicle speed and a target vehicle required torque corresponding to the target vehicle speed; A second allocation module is used to obtain a target torque allocation coefficient from a preset database based on the target vehicle speed and the target vehicle required torque, wherein the target torque allocation coefficient corresponds to the minimum vehicle power consumption; A second determination module is used to determine a target driving demand torque of each driving motor based on the target vehicle demand torque and the target torque distribution coefficient, and to determine a target rotation speed of each driving motor based on the target vehicle speed; The second control module is used to control each drive motor according to the target driving demand torque and target speed of each drive motor.

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