Torque distribution method, device and equipment and storage medium

Abstract

The invention provides a torque distribution method, device and equipment and a storage medium, and relates to the technical field of vehicles. When the method is executed, the wheel rotation angle of the wheel is obtained firstly, when the wheel rotation angle of the wheel is larger than a first preset angle, the preset front and rear axle torque distribution proportion corresponding to the wheel rotation angle is determined according to the wheel rotation angle, then front and rear axle torque distribution is conducted according to the preset front and rear axle torque distribution proportion, and returning operation of a driver is responded. And when the wheel rotation angle of the returned wheel is smaller than a second preset angle and the second preset angle is smaller than the first preset angle, the front and rear axle load proportion is obtained, and finally, front and rear axle torque distribution is conducted according to the front and rear axle load proportion. Therefore, the front and rear axle torque distribution can be directly performed according to the preset front and rear axle torque distribution proportion only according to the wheel turning angle, so that the front and rear axle torque distribution efficiency is improved.

Description

Technical Field

[0001] This application relates to the technical field of vehicles, and particularly to a torque distribution method, device, equipment and storage medium. Background Art

[0002] When a vehicle is turning, in order to prevent the vehicle from experiencing understeer or oversteer problems, a method of distributing torque between the front and rear axles is generally adopted. In the prior art, the torque distribution between the front and rear axles is carried out according to the load ratio of the front and rear axles, and whether to perform torque distribution between the front and rear axles is judged based on the yaw rate signal. Due to the delay in the yaw rate signal, the efficiency of torque distribution between the front and rear axles is low.

[0003] In summary, how to improve the efficiency of torque distribution between the front and rear axles is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0004] In view of this, this application provides a torque distribution method, device, equipment and storage medium, aiming to improve the efficiency of torque distribution between the front and rear axles.

[0005] In a first aspect, this application provides a torque distribution method, including:

[0006] Obtain the wheel rotation angle of the wheel;

[0007] When the wheel rotation angle of the wheel is greater than a first preset angle, determine a preset front and rear axle torque distribution ratio corresponding to the wheel rotation angle according to the wheel rotation angle;

[0008] Perform front and rear axle torque distribution according to the preset front and rear axle torque distribution ratio;

[0009] Obtain the wheel rotation angle of the wheel after it returns to the straight position;

[0010] When the wheel rotation angle of the wheel after it returns to the straight position is less than a second preset angle, and the second preset angle is less than the first preset angle, obtain the front and rear axle load ratio;

[0011] Perform front and rear axle torque distribution according to the front and rear axle load ratio.

[0012] Optionally, before performing the front and rear axle torque distribution according to the preset front and rear axle torque distribution ratio, it further includes:

[0013] Obtain the vehicle speed;

[0014] Determine an influence coefficient according to the vehicle speed;

[0015] The performing the front and rear axle torque distribution according to the preset front and rear axle torque distribution ratio includes:

[0016] Perform front and rear axle torque distribution according to the ratio obtained by multiplying the influence coefficient by the preset front and rear axle torque distribution ratio.

[0017] Optionally, the method further includes:

[0018] When the vehicle understeers or oversteers, obtain the vehicle yaw rate and the vehicle driving mode;

[0019] Determine a first torque compensation coefficient according to the vehicle yaw rate and the vehicle driving mode;

[0020] Perform front and rear axle torque distribution according to the first torque compensation coefficient.

[0021] Optionally, the method further includes:

[0022] When the torque distributed to the front axle or the rear axle exceeds the maximum torque of the motor, obtain the vehicle driving mode;

[0023] Determine a second torque compensation coefficient according to the vehicle driving mode and the wheel rotation angle of the wheel;

[0024] Perform front and rear axle torque distribution according to the second torque compensation coefficient.

[0025] Optionally, the performing front and rear axle torque distribution according to the second torque compensation coefficient includes:

[0026] When the torque distributed to the front axle exceeds the maximum torque of the motor, multiply the torque exceeding the maximum torque of the front axle motor by the second torque compensation coefficient to obtain a first torque;

[0027] Distribute the first torque to the rear axle;

[0028] When the torque distributed to the rear axle exceeds the maximum torque of the motor, multiply the torque exceeding the maximum torque of the rear axle motor by the second torque compensation coefficient to obtain a second torque;

[0029] Distribute the second torque to the front axle.

[0030] In a second aspect, the present application provides a torque distribution device, including:

[0031] A first acquisition module, configured to acquire the wheel rotation angle of the wheel;

[0032] A first determination module, configured to, when the wheel rotation angle of the wheel is greater than a first preset angle, determine a preset front and rear axle torque distribution ratio corresponding to the wheel rotation angle according to the wheel rotation angle;

[0033] A first torque distribution module, configured to perform front and rear axle torque distribution according to the preset front and rear axle torque distribution ratio;

[0034] A second acquisition module, which is configured to acquire the wheel angle of the wheels after straightening in response to the driver's straightening operation;

[0035] A third acquisition module, which is configured to acquire the front and rear axle load ratios when the wheel angle of the wheels after straightening is less than a second preset angle, and the second preset angle is less than the first preset angle;

[0036] A second torque distribution module, which is configured to perform front and rear axle torque distribution according to the front and rear axle load ratios.

[0037] Optionally, the device further includes:

[0038] A fourth acquisition module, which is configured to acquire the vehicle speed;

[0039] A second determination module, which is configured to determine an influence coefficient according to the vehicle speed;

[0040] The first torque distribution module is specifically configured to perform front and rear axle torque distribution according to the ratio obtained by multiplying the influence coefficient by the preset front and rear axle torque distribution ratio.

[0041] Optionally, the device further includes:

[0042] A fifth acquisition module, which is configured to acquire the vehicle yaw rate and the vehicle driving mode when the vehicle is understeering or oversteering;

[0043] A third determination module, which is configured to determine a first torque compensation coefficient according to the vehicle yaw rate and the vehicle driving mode;

[0044] A third torque distribution module, which is configured to perform front and rear axle torque distribution according to the first torque compensation coefficient.

[0045] Optionally, the device further includes:

[0046] A sixth acquisition module, which is configured to acquire the vehicle driving mode when the torque distributed to the front axle or the rear axle exceeds the maximum torque of the motor;

[0047] A third determination module, which is configured to determine a second torque compensation coefficient according to the vehicle driving mode and the wheel angle of the wheels;

[0048] A fourth torque distribution module, which is configured to perform front and rear axle torque distribution according to the second torque compensation coefficient.

[0049] Optionally, the fourth torque distribution module includes:

[0050] A first calculation unit, which is configured to multiply the torque exceeding the maximum torque of the front axle motor by the second torque compensation coefficient to obtain a first torque when the torque distributed to the front axle exceeds the maximum torque of the motor;

[0051] A first torque distribution unit for distributing the first torque to the rear axle;

[0052] A second calculation unit for multiplying the torque exceeding the maximum torque of the motor at the rear axle by the second torque compensation coefficient to obtain a second torque when the torque distributed to the rear axle exceeds the maximum torque of the motor;

[0053] A second calculation unit for distributing the second torque to the front axle.

[0054] In a third aspect, an embodiment of the present application provides a computer device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the torque distribution method described in any one of the first aspects of the embodiments of the present application is implemented.

[0055] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium. Instructions are stored in the computer-readable storage medium. When the instructions are run on a terminal device, the terminal device is caused to execute the torque distribution method described in any one of the first aspects of the embodiments of the present application.

[0056] The present application provides a torque distribution method. When implementing the method, first obtain the wheel rotation angle of the wheel. When the wheel rotation angle of the wheel is greater than a first preset angle, determine the preset front and rear axle torque distribution ratio corresponding to the wheel rotation angle according to the wheel rotation angle. Then, perform front and rear axle torque distribution according to the preset front and rear axle torque distribution ratio. In response to the driver's straightening operation, obtain the wheel rotation angle of the wheel after straightening. When the wheel rotation angle of the wheel after straightening is less than a second preset angle, and the second preset angle is less than the first preset angle, obtain the front and rear axle load ratio. Finally, perform front and rear axle torque distribution according to the front and rear axle load ratio. In this way, only based on the wheel rotation angle, the front and rear axle torque distribution can be directly performed according to the preset front and rear axle torque distribution ratio. Thus, the front and rear axle torque distribution efficiency is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] To more clearly illustrate the technical solutions in the embodiments or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0058] Figure 1 It is a flowchart of a torque distribution method provided by an embodiment of the present application;

[0059] Figure 2 It is a structural schematic diagram of a torque distribution device provided by an embodiment of the present application;

[0060] Figure 3 This is a schematic structural diagram of a computer device provided by an embodiment of the present application. Detailed implementation manners

[0061] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. A torque distribution method, device, equipment, and storage medium provided by the present application are used in the field of vehicle technology. The above is only an example and does not limit the application fields of the method and device names provided by the present application.

[0062] When a vehicle is turning, in order to prevent the vehicle from experiencing understeer or oversteer problems, a method of distributing torque between the front and rear axles is generally adopted. In the prior art, the torque distribution between the front and rear axles is carried out according to the load ratio between the front and rear axles, and it is judged whether to perform torque distribution between the front and rear axles according to the yaw rate signal. Due to the delay in the yaw rate signal, the efficiency of torque distribution between the front and rear axles is low.

[0063] The inventor has proposed the technical solution of the present application through research. First, obtain the wheel rotation angle of the wheel. When the wheel rotation angle of the wheel is greater than a first preset angle, determine the preset front-to-rear axle torque distribution ratio corresponding to the wheel rotation angle according to the wheel rotation angle. Then, perform front-to-rear axle torque distribution according to the preset front-to-rear axle torque distribution ratio. In response to the driver's straightening operation, then obtain the wheel rotation angle of the wheel after straightening. When the wheel rotation angle of the wheel after straightening is less than a second preset angle, the second preset angle is less than the first preset angle, obtain the front-to-rear axle load ratio, and finally, perform front-to-rear axle torque distribution according to the front-to-rear axle load ratio. In this way, only according to the wheel rotation angle, the front-to-rear axle torque distribution can be directly performed according to the preset front-to-rear axle torque distribution ratio, thereby improving the efficiency of front-to-rear axle torque distribution.

[0064] In order to enable those skilled in the art to better understand the solution of the present application, the present application will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without making creative efforts belong to the scope of protection of the present application. It should be noted that for the sake of description, only parts related to the relevant invention are shown in the accompanying drawings. Without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0065] See Figure 1 , Figure 1 This is a flowchart of a torque distribution method provided by an embodiment of the present application, including:

[0066] S101: Obtain the wheel rotation angle of the wheel.

[0067] When the vehicle is turning, continuously obtain the wheel steering angle of the wheel.

[0068] S102: When the wheel steering angle of the wheel is greater than the first preset angle, determine the preset front and rear axle torque distribution ratio corresponding to the wheel steering angle according to the wheel steering angle.

[0069] When it is obtained that the wheel steering angle of the wheel is greater than the first preset angle, determine the preset front and rear axle torque distribution ratio corresponding to the wheel steering angle, where different wheel steering angles correspond to different preset front and rear axle torque distribution ratios.

[0070] S103: Perform front and rear axle torque distribution according to the preset front and rear axle torque distribution ratio.

[0071] Perform front and rear axle torque distribution according to the preset front and rear axle torque distribution ratio corresponding to the determined wheel steering angle. In some embodiments, since the vehicle posture during cornering is different at different vehicle speeds, the vehicle speed can be taken as a consideration factor during front and rear axle torque distribution. That is, first obtain the current vehicle speed, calculate the influence coefficient according to the vehicle speed, and then perform front and rear axle torque distribution according to the ratio obtained by multiplying the influence coefficient by the preset front and rear axle torque distribution ratio.

[0072] S104: In response to the driver's straightening operation, obtain the wheel steering angle of the wheel after straightening.

[0073] In response to the driver's straightening operation, continuously obtain the wheel steering angle of the wheel after straightening.

[0074] S105: When the wheel steering angle of the wheel after straightening is less than the second preset angle, and the second preset angle is less than the first preset angle, obtain the front and rear axle load ratio.

[0075] When it is obtained that the wheel steering angle of the wheel after straightening is less than the second preset angle, obtain the front and rear axle load ratio, where the second preset angle is less than the first preset angle, which means that the implementation in step S103 has achieved sufficient straightening effect.

[0076] S106: Perform front and rear axle torque distribution according to the front and rear axle load ratio.

[0077] Perform front and rear axle torque distribution according to the obtained front and rear axle load ratio.

[0078] In an embodiment of the present application, a torque distribution method is provided. When executing this method, first obtain the wheel rotation angle of the wheel. When the wheel rotation angle of the wheel is greater than a first preset angle, determine the preset front and rear axle torque distribution ratio corresponding to the wheel rotation angle according to the wheel rotation angle. Then, perform front and rear axle torque distribution according to the preset front and rear axle torque distribution ratio. In response to the driver's straightening operation, then obtain the wheel rotation angle of the wheel after straightening. When the wheel rotation angle of the wheel after straightening is less than a second preset angle, and the second preset angle is less than the first preset angle, obtain the front and rear axle load ratio. Finally, perform front and rear axle torque distribution according to the front and rear axle load ratio. In this way, only based on the wheel rotation angle, the front and rear axle torque distribution can be directly performed according to the preset front and rear axle torque distribution ratio. Thus, the efficiency of front and rear axle torque distribution is improved.

[0079] In some embodiments, when the vehicle is understeering or oversteering, the vehicle yaw rate and the vehicle driving mode may also be obtained. Then, determine a first torque compensation coefficient according to the vehicle yaw rate and the vehicle driving mode. Finally, distribute the front and rear axle torques according to the first torque compensation coefficient, so as to quickly eliminate the understeering or oversteering situation.

[0080] In some embodiments, when the torque distributed to the front axle or the rear axle exceeds the maximum torque of the motor, first obtain the vehicle driving mode, then determine a second torque compensation coefficient according to the vehicle driving mode and the wheel rotation angle of the wheel, and finally perform front and rear axle torque distribution according to the second torque compensation coefficient. Among them, the specific method of performing front and rear axle torque distribution according to the second torque compensation coefficient includes: when the torque distributed to the front axle exceeds the maximum torque of the front axle motor, multiply the torque exceeding the maximum torque of the front axle motor by the second torque compensation coefficient to obtain a first torque, and distribute the first torque to the rear axle; when the torque distributed to the rear axle exceeds the maximum torque of the rear axle motor, multiply the torque exceeding the maximum torque of the rear axle motor by the second torque compensation coefficient to obtain a second torque, and distribute the second torque to the front axle.

[0081] The above are some specific implementation manners of the torque distribution method provided by the embodiments of the present application. Based on this, the present application also provides a corresponding device. Next, the device provided by the embodiments of the present application will be introduced from the perspective of functional modularization.

[0082] See Figure 2 , Figure 2 which is a schematic structural diagram of a torque distribution device provided by an embodiment of the present application. The shown torque distribution device 200 includes:

[0083] A first acquisition module 210, configured to acquire the wheel rotation angle of the wheel;

[0084] The first determination module 220 is configured to determine a preset front-rear axle torque distribution ratio corresponding to the wheel rotation angle according to the wheel rotation angle when the wheel rotation angle of the wheel is greater than a first preset angle;

[0085] The first torque distribution module 230 is configured to perform front-rear axle torque distribution according to the preset front-rear axle torque distribution ratio;

[0086] The second acquisition module 240 is configured to acquire the wheel rotation angle of the wheel after straightening in response to the driver's straightening operation;

[0087] The third acquisition module 250 is configured to acquire the front-rear axle load ratio when the wheel rotation angle of the wheel after straightening is less than a second preset angle, and the second preset angle is less than the first preset angle;

[0088] The second torque distribution module 260 is configured to perform front-rear axle torque distribution according to the front-rear axle load ratio;

[0089] Optionally, the device 200 further includes:

[0090] The fourth acquisition module is configured to acquire the vehicle speed;

[0091] The second determination module is configured to determine an influence coefficient according to the vehicle speed;

[0092] The first torque distribution module 230 is specifically configured to perform front-rear axle torque distribution according to the ratio obtained by multiplying the influence coefficient by the preset front-rear axle torque distribution ratio.

[0093] Optionally, the device 200 further includes:

[0094] The fifth acquisition module is configured to acquire the vehicle yaw rate and the vehicle driving mode when the vehicle is understeering or oversteering;

[0095] The third is configured to determine a first torque compensation coefficient according to the vehicle yaw rate and the vehicle driving mode;

[0096] The third torque distribution module is configured to perform front-rear axle torque distribution according to the first torque compensation coefficient.

[0097] Optionally, the device 200 further includes:

[0098] The sixth acquisition module is configured to acquire the vehicle driving mode when the torque distributed to the front axle or the rear axle exceeds the maximum torque of the motor;

[0099] The third determination module is configured to determine a second torque compensation coefficient according to the vehicle driving mode and the wheel rotation angle of the wheel;

[0100] A fourth torque distribution module, configured to perform front and rear axle torque distribution according to the second torque compensation coefficient.

[0101] Optionally, the fourth torque distribution module includes:

[0102] A first calculation unit, configured to multiply the torque exceeding the maximum torque of the front axle motor by the second torque compensation coefficient to obtain a first torque when the torque distributed to the front axle exceeds the maximum torque of the motor;

[0103] A first torque distribution unit, configured to distribute the first torque to the rear axle;

[0104] A second calculation unit, configured to multiply the torque exceeding the maximum torque of the rear axle motor by the second torque compensation coefficient to obtain a second torque when the torque distributed to the rear axle exceeds the maximum torque of the motor;

[0105] A second torque distribution unit, configured to distribute the second torque to the front axle.

[0106] The embodiments of the present application also provide corresponding devices and computer storage media for implementing the solutions provided by the embodiments of the present application.

[0107] As Figure 3 shown, the computer device 01 is presented in the form of a general-purpose computing device. The components of the computer device 01 may include, but are not limited to: one or more processors or processing units 03, a system memory 08, and a bus 04 connecting different system components (including the system memory 08 and the processing unit 03).

[0108] The bus 04 represents one or more of several types of bus structures, including a memory bus or a memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the multiple bus structures. For example, these architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

[0109] The computer device 01 typically includes a variety of computer system readable media. These media can be any available media accessible by the computer device 01, including volatile and non-volatile media, removable and non-removable media.

[0110] System memory 08 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 09 and / or cache memory 10. The computer device 01 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 11 can be used for reading and writing on non-removable, non-volatile magnetic media ( Figure 3 not shown, commonly referred to as a "hard disk drive"). Although Figure 3 not shown in the figure, a disk drive for reading and writing on removable non-volatile disks (such as "floppy disks") and an optical disk drive for reading and writing on removable non-volatile optical disks (such as CD-ROM, DVD-ROM or other optical media) can be provided. In these cases, each drive can be connected to the bus 04 through one or more data media interfaces. The memory 08 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of the present invention.

[0111] A program / utility 12 having a set (at least one) of program modules 13 can be stored, for example, in the memory 08. Such program modules 13 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. The program modules 13 generally perform the functions and / or methods in the embodiments described in the present invention.

[0112] The computer device 01 can also communicate with one or more external devices 02 (such as a keyboard, a pointing device, a display 07, etc.), and can also communicate with one or more devices that enable a user to interact with the computer device 01, and / or communicate with any device that enables the computer device 01 to communicate with one or more other computing devices (such as a network card, a modem, etc.). Such communication can be carried out through an input / output (I / O) interface 06. And, the computer device 01 can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter 05. As Figure 3 shown, the network adapter 05 communicates with other modules of the computer device 01 through the bus 04. It should be understood that although Figure 3 not shown in the figure, other hardware and / or software modules can be used in combination with the computer device 01, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0113] The processor unit 03 executes various functional applications and data processing by running the programs stored in the system memory 08, for example, implementing a torque distribution method provided in an embodiment of the present application.

[0114] It should be noted that in this text, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the element.

[0115] From the description of the above embodiments, those skilled in the art can clearly understand that all or part of the steps in the above embodiment methods can be implemented by means of software plus a general hardware platform. Based on this understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a storage medium, such as read-only memory (ROM) / RAM, magnetic disk, optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network communication device such as a router) to execute the methods described in various embodiments or some parts of the embodiments of the present application.

[0116] Each embodiment in this specification is described in a progressive manner. The same or similar parts between the embodiments can be referred to each other, and the key point of each embodiment is to illustrate the differences from other embodiments. In particular, for the device embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiments. One can choose some or all of the modules according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0117] The above description is only an exemplary embodiment of the present application and is not used to limit the protection scope of the present application.

Claims

1. A torque distribution method, characterized in that: include: Get the wheel angle of the wheel; When the wheel steering angle of the wheel is greater than a first preset angle, determining a preset front and rear axle torque distribution ratio corresponding to the wheel steering angle according to the wheel steering angle; Distributing the front and rear axle torques according to the preset front and rear axle torque distribution ratio; In response to a return-to-center operation by the driver, obtaining a wheel angle of the wheel after the return-to-center operation; When the wheel turning angle of the wheel after returning to the center position is less than a second preset angle, and the second preset angle is less than the first preset angle, a load ratio of the front and rear axles is obtained; The front and rear axle torques are distributed according to the front and rear axle load ratio.

2. The method according to claim 1, characterized in that Before distributing the front and rear axle torques according to the preset front and rear axle torque distribution ratio, the method further includes: Get vehicle speed; determining an influence coefficient according to the vehicle speed; The front and rear axle torque distribution according to the preset front and rear axle torque distribution ratio includes: The front and rear axle torques are distributed according to a ratio obtained by multiplying the influence coefficient by the preset front and rear axle torque distribution ratio.

3. The method according to claim 1, characterized in that The method further comprises: When the vehicle is understeering or oversteering, the vehicle yaw rate and the vehicle driving mode are obtained; determining a first torque compensation coefficient according to the vehicle yaw rate and the vehicle driving mode; The front and rear axle torques are distributed according to the first torque compensation coefficient.

4. The method according to claim 1, characterized in that: The method further comprises: When the torque distributed to the front axle or rear axle exceeds the maximum torque of the motor, the vehicle driving mode is obtained; determining a second torque compensation coefficient according to the vehicle driving mode and the wheel angle of the wheel; The front and rear axle torques are distributed according to the second torque compensation coefficient.

5. The method according to claim 4, characterized in that The front and rear axle torque distribution according to the second torque compensation coefficient includes: When the torque distributed on the front axle exceeds the maximum torque of the motor, multiplying the torque exceeding the maximum torque of the front axle motor by the second torque compensation coefficient to obtain a first torque; distributing the first torque to the rear axle; When the torque distributed to the rear axle exceeds the maximum torque of the motor, multiplying the torque exceeding the maximum torque of the rear axle motor by the second torque compensation coefficient to obtain a second torque; The second torque is distributed to the front axle.

6. A torque distribution device, characterized in that: include: A first acquisition module, used for acquiring a wheel angle of a wheel; a first determining module, configured to determine, when a wheel angle of the wheel is greater than a first preset angle, a preset front and rear axle torque distribution ratio corresponding to the wheel angle according to the wheel angle; A first torque distribution module, used for distributing the front and rear axle torques according to the preset front and rear axle torque distribution ratio; A second acquisition module, in response to the driver's return operation, is used to acquire the wheel angle of the wheel after the return; A third acquisition module, configured to acquire a front-rear axle load ratio when the wheel turning angle of the wheel after returning to the center position is less than a second preset angle, and the second preset angle is less than the first preset angle; The second torque distribution module is used to distribute the front and rear axle torques according to the front and rear axle load ratio.

7. The device according to claim 6, characterized in that The device also includes: A fourth acquisition module, used for acquiring vehicle speed; A second determination module, used to determine an influence coefficient according to the vehicle speed; The first torque distribution module is specifically used to distribute the front and rear axle torques according to a ratio obtained by multiplying the influence coefficient by the preset front and rear axle torque distribution ratio.

8. The device according to claim 6, characterized in that The device also includes: a fifth acquisition module, for acquiring a vehicle yaw rate and a vehicle driving mode when the vehicle is understeering or oversteering; third, determining a first torque compensation coefficient according to the vehicle yaw rate and the vehicle driving mode; The third torque distribution module is used to distribute the front and rear axle torques according to the first torque compensation coefficient.

9. A computer device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the torque distribution method according to any one of claims 1 to 5 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed on a terminal device, the terminal device executes the torque distribution method according to any one of claims 1 to 5.

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