Torque distribution method, computer program product and vehicle control unit

Abstract

The present application relates to a torque distribution method for distributing a torque demand in a vehicle having at least two electric drive systems, the torque distribution method comprising the following steps: an acquisition step in which a current total torque demand is acquired; a calculation step, in the calculation step, according to at least two preset distribution strategies with different distribution proportions, energy consumption needed by the specific vehicle for achieving the current total torque demand is calculated; and a selection step in which, according to the calculated energy consumption, a distribution strategy with low energy consumption is selected to distribute the current total torque demand to the at least two electric drive systems. The invention also relates to a corresponding computer program product and a vehicle control unit. The method has the advantages that the energy consumption can be reduced, so that the driving mileage of the vehicle is increased; and invalid gear options are effectively eliminated, so that the operation is simplified.

Description

Technical Field

[0001] The present application relates to a torque distribution method, a computer program product, and a vehicle control unit. Background Art

[0002] To ensure sufficient driving force, large or heavy vehicles may be equipped with two or more electric drive systems. The driver can select driving modes, such as snow mode, sand mode, sport mode, and economy mode. In different driving modes, the vehicle control unit (VCU) distributes the torque demand to these electric drive systems according to a fixed distribution ratio corresponding to the driving mode. However, in most cases, these electric drive systems do not achieve the best efficiency. Summary of the Invention

[0003] The purpose of the present application is to provide a torque distribution method for distributing torque demand in a vehicle with at least two electric drive systems, so that these electric drive systems can operate efficiently, thereby saving energy and increasing the driving range of the vehicle.

[0004] According to a first aspect of the present application, there is provided a torque distribution method for distributing torque demand in a vehicle with at least two electric drive systems, the torque distribution method comprising the following steps:

[0005] An obtaining step, in which the current total torque demand is obtained;

[0006] A calculating step, in which, according to at least two distribution strategies with different distribution ratios preset, the energy consumption required for the specific vehicle to achieve the current total torque demand is calculated respectively;

[0007] A selecting step, in which, according to the calculated energy consumption, a distribution strategy with low energy consumption is selected to distribute the current total torque demand to the at least two electric drive systems.

[0008] According to a second aspect of the present application, there is provided a computer program product comprising computer program instructions, wherein when the computer program instructions are executed by one or more than one processor, the processor can execute the foregoing torque distribution method.

[0009] According to a third aspect of the present application, there is provided a vehicle control unit that executes the foregoing torque distribution method.

[0010] At least in some embodiments, the positive effects of the present application are as follows: it can reduce energy consumption, thereby increasing the driving range of the vehicle; it can effectively eliminate invalid gear options, thereby simplifying the operation. Description of the Drawings

[0011] Next, the present application will be described in more detail by referring to the accompanying drawings, and the principles, features, and advantages of the present application can be better understood. The accompanying drawings include:

[0012] Figure 1 Schematically shows an example of the vehicle of the present application.

[0013] Figure 2 Schematically shows an example of the torque distribution method of the present application.

[0014] Figure 3 Shows an example of the respective distribution ratios of the first electric drive system and the second electric drive system in the case of five distribution strategies.

[0015] Figure 4 Schematically shows an example of an efficiency map.

[0016] Figure 5 Schematically shows an example of a gear exclusion process in the case of a dual drive system. Detailed Description of the Specific Embodiment

[0017] In order to make the technical problems to be solved, the technical solutions, and the beneficial technical effects of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and multiple exemplary embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the protection scope of the present application.

[0018] Figure 1 Schematically shows an example of the vehicle of the present application. The vehicle is, for example, a large or heavy vehicle, such as a bus or a truck, etc.

[0019] The vehicle includes a vehicle controller 300 and at least two electric drive systems. In Figure 1 exemplarily, the vehicle includes exactly two electric drive systems, namely a first electric drive system 100 for driving the front axle of the vehicle and a second electric drive system 200 for driving the rear axle of the vehicle. For convenience, the first electric drive system 100 and the second electric drive system 200 are collectively referred to as the dual drive system of the vehicle. The first electric drive system 100 has a first drive motor 110 and a first transmission mechanism 120, and the second electric drive system 200 has a second drive motor 210 and a second transmission mechanism 220.

[0020] Figure 2 Schematically shows an example of the torque distribution method of the present application. The vehicle controller 300 can distribute torque requirements according to this torque distribution method.

[0021] As Figure 2As described above, the torque distribution method includes the following steps:

[0022] An obtaining step 500, in which the current total torque demand is obtained.

[0023] A calculating step 510, in which, according to at least two distribution strategies with different distribution ratios preset, the energy consumption required for the specific vehicle to achieve the current total torque demand is calculated respectively.

[0024] A selecting step 520, in which, according to the calculated energy consumption, a distribution strategy with low energy consumption is selected to distribute the current total torque demand to the at least two electric drive systems.

[0025] Thus, the vehicle always adopts a high-energy-efficiency distribution strategy, thereby saving electric energy and increasing the cruising range of the vehicle.

[0026] The total torque demand refers to, for example, the total wheel-end torque demand. The vehicle controller 300 can, for example, judge the driver's total torque demand according to the depression depth of the accelerator pedal by the driver. This is well known in the prior art and will not be elaborated here.

[0027] "Low energy consumption" especially means "the lowest energy consumption".

[0028] According to an exemplary embodiment of the present application, the at least two distribution strategies include a single-drive distribution strategy of distributing all to one of the at least two electric drive systems and / or a multi-drive distribution strategy of distributing to at least two of the at least two electric drive systems.

[0029] Exemplarily, in the case of a dual-drive system, the at least two distribution strategies may include a first distribution strategy of distributing all to the first electric drive system 100 and a second distribution strategy of distributing all to the second electric drive system 200, and may also include a multi-drive distribution strategy of distributing to both the first electric drive system 100 and the second electric drive system 200. In the multi-drive distribution strategy, the distribution ratios to the first electric drive system 100 and the second electric drive system 200 are both non-zero.

[0030] According to an exemplary embodiment of the present application, for a dual-drive system, the at least two distribution strategies include m distribution strategies where m≥3. For the f-th strategy where 1≤f≤m, the distribution ratio a1 of the first electric drive system 100 is (f - 1) / (m - 1), and the distribution ratio a2 of the second electric drive system 200 is (m - f) / (m - 1).

[0031] Figure 3An example of the allocation ratios of the first electric drive system 100 and the second electric drive system 200 respectively under five allocation strategies is shown. Here, m = 5, and the allocation ratios of two adjacent allocation strategies differ by 0.25. For example, in the first allocation strategy with f = 1, a1 = 0, while in the second allocation strategy with f = 2, a1 = 0.25. It is also conceivable that m = 11, in which case the allocation ratios of two adjacent allocation strategies differ by 0.1; or m = 21, in which case the allocation ratios of two adjacent allocation strategies differ by 0.05.

[0032] Obviously, for the at least two allocation strategies, there can be various different variants. For example, m can take various different values. They are not all enumerated here.

[0033] According to an exemplary embodiment of the present application, the energy consumption at least includes the total motor consumption power of the drive motors of the at least two electric drive systems required to meet the current total torque demand.

[0034] According to an exemplary embodiment of the present application, the energy consumption is equal to the sum of the total motor consumption power and the total cooling consumption power required to dissipate the heat generated by the corresponding reactive power of the drive motors of the at least two electric drive systems (see the calculation formula below). Thus, various factors of energy consumption can be considered more comprehensively.

[0035] The cooling consumption power is understood in particular as follows: The power supplied to the drive motor includes an active power part converted into torque and a reactive power part that becomes heat. The heat will cause the drive motor to heat up, so a cooling system such as a fan is needed to dissipate the heat. The power consumed by the cooling system for this purpose is considered the cooling consumption power.

[0036] Instead of the above method, the total motor consumption power can also be directly used as the energy consumption, or the total cooling consumption power can be directly used as the energy consumption. It is also conceivable to use the sum of the heat emission powers of the respective electric drive systems as the energy consumption. Here, a low energy consumption at least can represent a low energy consumption of the at least two electric drive systems in at least one aspect.

[0037] According to an exemplary embodiment of the present application, when the transmission mechanisms of the at least two electric drive systems have multiple gear positions corresponding to the current driving direction of the vehicle, in the calculation step 510, for each allocation strategy, the energy consumption is calculated respectively according to different gear position options of the transmission mechanisms of the at least two electric drive systems. In the selection step 520, according to the calculated energy consumption, an allocation strategy and a gear position option with low energy consumption are selected.

[0038] "The transmission mechanisms of the at least two electric drive systems have multiple gears corresponding to the current driving direction of the vehicle" should be understood as follows: If the vehicle is currently moving forward, the transmission mechanism has at least two forward gears; if the vehicle is currently moving backward, the transmission mechanism has at least two reverse gears. Here, "multiple gears" does not count forward gears and reverse gears together, nor does it consider neutral gear and parking gear.

[0039] For a single drive distribution strategy, a gear option refers to a gear of the only electric drive system that receives the distribution; for a multi-drive distribution strategy, a gear option refers to a combination of gears of the transmission mechanisms of at least two electric drive systems that receive the distribution. For example, for a dual-drive system where the first transmission mechanism 120 has 3 gears and the second transmission mechanism 220 has 3 gears, for the single drive distribution strategies where all are distributed to the first electric drive system 100 or the second electric drive system 200, there are 3 gear options respectively, while for the multi-drive distribution strategy where it is distributed to both the first electric drive system 100 and the second electric drive system 200, there are 3*3 = 9 gear options or gear combinations.

[0040] However, there may also be a situation where the transmission mechanisms of the electric drive systems all only have a single gear. In this case, the gear does not need to be considered when calculating the energy consumption because the transmission ratio is fixed.

[0041] According to an exemplary embodiment of the present application, the motor consumption power P of the drive motor of each electric drive system is calculated in the following manner GrossEm :

[0042] The current total torque demand is Trq WhlTotal , according to a distribution strategy, the wheel-side torque Trq Whl distributed to an electric drive system is

[0043] Trq Whl = Trq WhlTotal *a

[0044] where a is the distribution ratio specified in the above distribution strategy for the electric drive system

[0045] The transmission mechanism of this electric drive system has n gears. At a gear Pos Tcu satisfying 1 ≤ Pos Tcu ≤ n, the target torque Trq Em that the drive motor of this electric drive system should reach is

[0046] Trq Em = Trq Wh / Trsm Tcu

[0047] where TrsmTcu For the transmission ratio at gear position Pos Tcu the target rotational speed Spd that the drive motor of the electric drive system should reach at gear position Pos

[0048] is Tcu Spd Em is

[0049] Spd Em = Spd wheel *Trsm Tcu

[0050] wherein, Spd wheel is the current wheel speed of the wheel driven by the electric drive system

[0051] the motor power consumption or gross power of the drive motor of the electric drive system is

[0052] P GrossEm =(Spd Em *Trq Em ) / Eff TcuEm

[0053] wherein, Eff TcuEm is the drive motor efficiency obtained based on a pre - obtained efficiency map according to gear position Pos Tcu , torque Trq Em and rotational speed Spd Em , that is, gross power = static power / efficiency

[0054] the total motor power consumption P GrossEmTotal is the sum of the motor power consumption P GrossEm of the drive motors of each electric drive system

[0055] Exemplarily, Spd wheel can be obtained based on the current vehicle speed v according to the following formula

[0056] Spd wheel = v / r

[0057] wherein, r is a constant. It is also conceivable that Spd wheel is directly obtained from a wheel speed sensor

[0058] Figure 4 Schematically shows an example of an efficiency map. In Figure 4 the abscissa is the motor rotational speed and the ordinate is the motor torque Figure 4 Numbers such as "78 - 80" in TcuHave different efficiency maps.

[0059] According to an exemplary embodiment of the present application, the cooling power consumption P of each electric drive system is calculated as follows coolEm :

[0060] The heat emission power P generated by the ineffective power of the drive motor of the electric drive system wasteheatEm is

[0061] P wasteheatEm = P GrossEm *(1 - Eff TcuEm )

[0062] The cooling power consumption P coolEm is

[0063] P coolEm = fac * P wasteheatEm

[0064] where fac is the equivalent coefficient between the cooling power consumption and the heat emission power.

[0065] The total cooling power consumption P coolEmTotal is the sum of the cooling power consumption P of the drive motors of each electric drive system coolEm .

[0066] fac is determined based on, for example, the current season and / or the current ambient temperature, etc. In winter or when the ambient temperature is low, fac is small; while in summer or when the ambient temperature is high, fac is large. It is also conceivable that, for simplicity, fac is set to a fixed value.

[0067] According to an exemplary embodiment of the present application, the transmission mechanisms of the at least two electric drive systems respectively have multiple gears, and the calculation step 510 includes a gear exclusion process 512. In the gear exclusion process 512, for a multi-drive distribution strategy, for a gear option, if the gear of the transmission mechanism of one electric drive system obtained for distribution differs from the gear of the transmission mechanism of another electric drive system obtained for distribution by more than one gear, then this gear option is excluded. The main purpose of this method is to ensure that the difference between the target speeds of the drive motors of the at least two electric drive systems obtained for distribution is not too large. Thus, instead of the above gear condition, it is also conceivable to exclude invalid gear options by setting the following speed condition: the difference between the target speeds of the drive motors of the at least two electric drive systems obtained for distribution does not exceed a preset value.

[0068] "Excluding" especially means not calculating the energy consumption for this gear option, so that this gear option will not be selected in the selection step 520 either.

[0069] Figure 5Schematically shows an example of the gear exclusion process 512 in the case of a dual-drive system. In Figure 5 , the single-drive cases where the torque demand is fully allocated to the first electric drive system 100 or the second electric drive system 200 are marked with a dashed box, and the multi-drive cases where the torque demand is allocated to both the first electric drive system 100 and the second electric drive system 200 are marked with a dotted line box.

[0070] As Figure 5 shown, for a dual-drive system where the first transmission mechanism 120 of the first electric drive system 100 and the second transmission mechanism 220 of the second electric drive system 200 each have n gears with n≥2, in the gear exclusion process 512, for a gear option where the first transmission mechanism 120 of the first electric drive system 100 is in gear x and the second transmission mechanism 220 of the second electric drive system 200 is in gear y, where 1≤x≤n and 1≤y≤n, if x - 1≤y≤x + 1 is not satisfied, then this gear option is excluded. That is, the absolute value of the difference between the gear x of the first transmission mechanism 120 and the gear y of the second transmission mechanism 220 should be less than or equal to 1. The excluded gear options are not marked with √ in the Figure 4 table. For example, the gear option with x = 3 and y = 1 is an excluded invalid gear option.

[0071] According to an exemplary embodiment of the present application, the calculation step 510 includes a torque exclusion process 514. In the torque exclusion process 514, for the gear options to be calculated under the allocation strategy to be calculated, the target torque that the drive motors of each electric drive system should reach is calculated. If the target torque calculated for a certain gear option under a certain allocation strategy is not within the torque allowable range of the electric drive system, then this gear option under this allocation strategy is excluded.

[0072] It can be envisioned that for the multi-drive allocation strategy, the torque exclusion process 514 is only executed for the remaining gear options after the gear exclusion process 512. That is, for example, the torque exclusion process 514 is only executed for the gear options marked with √ within the dotted line box.

[0073] According to an exemplary embodiment of the present application, the calculation step 510 includes a speed exclusion process 516. In the speed exclusion process 516, for the gear options to be calculated, the target speed that the drive motors of each electric drive system should reach is calculated based on the current vehicle speed and / or the current wheel speed of the vehicle. If the target speed calculated for a certain gear option is not within the speed allowable range of the electric drive system, then this gear option is excluded.

[0074] Similarly, it is conceivable that, for a multi-drive allocation strategy, the speed exclusion process 516 is only executed for the gear options remaining after the gear exclusion process 512 and the torque exclusion process 514 ; and for a single-drive allocation strategy, the speed exclusion process 516 is only executed for the gear options remaining after the torque exclusion process 514 .

[0075] Although not explicitly stated, various changes in the order of the various elimination processes are obviously conceivable, and these should be considered within the scope of the disclosure of this application.

[0076] According to an exemplary embodiment of the present application, for a dual drive system, in the selection step, the lowest energy consumption among all single drive allocation strategies allocated to the first electric drive system 100, the lowest energy consumption among all single drive allocation strategies allocated to the second electric drive system 200, and the lowest energy consumption among multiple drive allocation strategies are selected, and then the global lowest energy consumption is selected from these three lowest energy consumptions, and then the total torque demand is allocated according to the allocation strategy and gear options corresponding to the global lowest energy consumption. This simplifies the procedure.

[0077] The following is a more specific example to explain the process of the torque distribution method of the present application.

[0078] Assuming that the vehicle has a dual drive system, the first transmission mechanism 120 and the second transmission mechanism 220 have Figure 5 The n gears are preset as follows Figure 3 Five allocation strategies are shown.

[0079] The first allocation strategy is Figure 3 is a single drive strategy that is all allocated to the second electric drive system 200. Under the first allocation strategy, there are n gear options that only involve the second transmission mechanism 220. For each gear option, the torque elimination process 514 and the speed elimination process 516 are first executed. If the gear option is not eliminated, the energy consumption is calculated. Then, the lowest energy consumption is found from the calculated energy consumptions.

[0080] The second allocation strategy to the fourth allocation strategy are multi-drive allocation strategies. For example, for the second allocation strategy, the gear elimination process 512 is first executed, so that only Figure 5 The gear options marked with √ in the dotted box have a total of 3n-2 gear options left. Then under the second allocation strategy, for these 3n-2 gear options, the torque exclusion process 514 and the speed exclusion process 516 are respectively executed. For the gear options that are not excluded, the energy consumption is calculated respectively. At this time, the energy consumption is the sum of the energy consumption of the first electric drive system 100 and the second electric drive system 200. Then the third allocation strategy and the fourth allocation strategy are calculated in this way. Finally, the minimum energy consumption under the multi-drive allocation strategy is found.

[0081] The fifth distribution strategy is a single-drive distribution strategy similar to the first distribution strategy. The difference is that the torque demand is entirely distributed to the first electric drive system 100 here. Similar to the first distribution strategy, there are n gear options that only involve the first transmission mechanism 120 under the fifth distribution strategy. For each gear option, first perform the torque exclusion process 514 and the speed exclusion process 516. If the gear option is not excluded, calculate the energy consumption. Then find the lowest energy consumption from the calculated energy consumptions.

[0082] Finally, find the globally lowest global lowest energy consumption from the three lowest energy consumptions found, and select the distribution strategy and gear option corresponding to this global lowest energy consumption.

[0083] Instead of the above way of finding the lowest energy consumption, it is also conceivable that only calculate the energy consumption first, and only compare all of them together at the end to find the global lowest energy consumption.

[0084] In the description of specific embodiments of the present application, the steps and / or processes of the method may be described in a specific order. However, this should not be regarded as an absolute limitation. If possible in principle, it is obviously also conceivable to simply adjust the order of the described steps and / or process order, which still falls within the protection scope of the present application.

[0085] In the context, "a plurality of" should be understood as at least two.

[0086] Although specific embodiments of the present application are described in detail here, they are only given for the purpose of explanation and should not be considered as limiting the scope of the present application. Various substitutions, changes and modifications can be conceived without departing from the spirit and scope of the present application.

[0087] List of reference numerals

[0088] 100 First electric drive system

[0089] 110 First drive motor

[0090] 120 First transmission mechanism

[0091] 200 Second electric drive system

[0092] 210 Second drive motor

[0093] 220 Second transmission mechanism

[0094] 300 Vehicle controller

[0095] 500 Acquisition step

[0096] 510 Calculation steps

[0097] 512 Gear exclusion process

[0098] 514 Torque exclusion process

[0099] 516 Rotational speed exclusion process

[0100] 520 Selection steps

Claims

1. A torque distribution method for distributing torque demand in a vehicle having at least two electric drive systems, characterized in that, The torque distribution method includes the following steps: An obtaining step (500), in which the current total torque demand is obtained; A calculating step (510), in which, according to at least two distribution strategies with different distribution ratios preset, the energy consumption required for a specific vehicle to achieve the current total torque demand is calculated respectively; A selecting step (520), in which, according to the calculated energy consumption, a distribution strategy with low energy consumption is selected to distribute the current total torque demand to the at least two electric drive systems; 2. The torque distribution method according to claim 1, wherein The torque distribution method includes at least one of the following features: The at least two electric drive systems include a first electric drive system (100) for driving the front axle of the vehicle and a second electric drive system (200) for driving the rear axle of the vehicle, and the first electric drive system (100) and the second electric drive system (200) form a dual drive system of the vehicle; The energy consumption at least includes the total motor consumption power of the drive motors of the at least two electric drive systems required to meet the current total torque demand; The at least two distribution strategies include a single drive distribution strategy of allocating all to one of the at least two electric drive systems; The at least two distribution strategies include a multi-drive distribution strategy of allocating to at least two of the at least two electric drive systems; In the case where the transmission mechanisms of the at least two electric drive systems have multiple gears corresponding to the current driving direction of the vehicle, in the calculating step (510), for each distribution strategy, the energy consumption is calculated respectively according to different gear options of the transmission mechanisms of the at least two electric drive systems, and in the selecting step (520), according to the calculated energy consumption, a distribution strategy and a gear option with low energy consumption are selected; 3. The torque distribution method according to claim 2, characterized in that Calculate the motor power consumption P of the drive motor of each electric drive system in the following manner GrossEm : The current total torque demand is Trq WhlTotal , according to a distribution strategy, the wheel-end torque Trq allocated to an electric drive system is Whl as follows Trq Whl = Trq WhlTotal * a wherein, a is the distribution ratio specified in the above distribution strategy for the electric drive system, The transmission mechanism of the electric drive system has n gears. At a gear position Pos that satisfies 1 ≤ Pos Tcu ≤ n, the target torque Trq Tcu that the drive motor of the electric drive system should reach Em is Trq Em = Trq Wh / Trsm Tcu Among them, Trsm Tcu is the transmission ratio at gear position Pos Tcu , The drive motor of the electric drive system shall reach the target speed Spd at gear position Pos Tcu The target speed to be achieved Em For Spd Em = Spd wheel * Trsm Tcu wherein, Spd wheel is the current wheel speed of the wheel driven by the electric drive system, the motor consumption power of the drive motor of the electric drive system is P GrossEm = (Spd Em * Trq Em ) / Eff TcuEm Among them, Eff TcuEm is the driving motor efficiency obtained based on the pre-obtained efficiency map according to the gear position Pos Tcu , torque Trq Em and rotational speed Spd Em ​ The total motor power consumption P GrossEmTotal is the sum of the motor power consumptions P GrossEm of the drive motors of the respective electric drive systems.

4. The torque distribution method according to claim 3, wherein The energy consumption is equal to the sum of the total motor consumption power and the total cooling consumption power required to reduce the heat generated by the corresponding reactive power of the drive motors of the at least two electric drive systems; 5. The torque distribution method according to claim 4, characterized in that, Calculate the cooling power consumption \(P\) of each electric drive system in the following manner coolEm : The heat emission power P generated by the reactive power of the drive motor in the electric drive system wasteheatEm is P wasteheatEm = P GrossEm *(1 - Eff TcuEm ) Cooling power consumption P coolEm is P coolEm = fac * P wasteheatEm wherein, fac is the equivalent coefficient between the cooling consumption power and the heat emission power, The total cooling power consumption P coolEmTotal is the sum of the cooling power consumptions P coolEm of the drive motors of the respective electric drive systems.

6. The torque distribution method according to claim 2, characterized in that The transmission mechanisms of the at least two electric drive systems respectively have multiple gears, and the calculating step (510) includes a gear exclusion process (512). In the gear exclusion process (512), for the multi-drive distribution strategy, for a gear option, if the gear of the transmission mechanism of an electric drive system that obtains the distribution differs from the gear of the transmission mechanism of another electric drive system that obtains the distribution by more than one gear, then this gear option is excluded; For a dual-drive system in which the first transmission mechanism (120) of the first electric drive system (100) and the second transmission mechanism (220) of the second electric drive system (200) each have n gears where n ≥ 2, in the gear exclusion process (512), for a gear option where the first transmission mechanism (120) of the first electric drive system (100) is in gear x and the second transmission mechanism (220) of the second electric drive system (200) is in gear y, where 1 ≤ x ≤ n and 1 ≤ y ≤ n, if x - 1 ≤ y ≤ x + 1 is not satisfied, then this gear option is excluded.

7. The torque distribution method according to claim 2, wherein The calculation step (510) includes a torque exclusion process (514), in which, for the gear options to be calculated under the distribution strategy to be calculated, the target torque that the drive motors of the respective electric drive systems should reach is calculated. If the target torque calculated for a certain gear option under a certain distribution strategy is not within the torque allowable range of the electric drive system, then this gear option under this distribution strategy is excluded.

8. The torque distribution method according to claim 2, wherein The calculation step (510) includes a speed exclusion process (516), in which, for the gear options to be calculated, based on the current vehicle speed and / or the current wheel speed of the vehicle, the target speed that the drive motors of the respective electric drive systems should reach is calculated. If the target speed calculated for a certain gear option is not within the speed allowable range of the electric drive system, then this gear option is excluded.

9. The torque distribution method according to claim 2, wherein For the dual-drive system, the at least two distribution strategies include m distribution strategies where m ≥ 3. For the f-th strategy where 1 ≤ f ≤ m, the distribution ratio a1 of the first electric drive system (100) is (f - 1) / (m - 1), and the distribution ratio a2 of the second electric drive system (200) is (m - f) / (m - 1).

10. The torque distribution method according to claim 2, wherein For the dual-drive system, in the selection step, the lowest energy consumption among the single-drive distribution strategies that are all allocated to the first electric drive system (100) is selected, the lowest energy consumption among the single-drive distribution strategies that are all allocated to the second electric drive system (200) is selected, and the lowest energy consumption among the multi-drive distribution strategies is selected. Then, the global lowest energy consumption is selected from these three lowest energy consumptions, and then the total torque demand is allocated according to the distribution strategy and gear option corresponding to this global lowest energy consumption.

11. A computer program product, characterized in that, It includes computer program instructions, where when the computer program instructions are executed by one or more than one processor, the processor can execute the torque distribution method according to any one of claims 1 to 10.

12. A vehicle controller (300), characterized in that, The vehicle controller (300) executes the torque distribution method according to any one of claims 1 to 10.

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