Torque distribution method and device of vehicle, vehicle and storage medium

Abstract

The invention provides a torque distribution method and device of a vehicle, the vehicle and a storage medium. In the scheme, the vehicle obtains the current driving mode in the driving process, and the current driving mode can be any one of an economic mode, a normal mode, a motion mode or an off-road mode. Then, according to a torque distribution strategy corresponding to the driving mode, a target torque distribution coefficient is obtained through calculation; wherein the torque distribution strategy is an economical efficiency priority strategy, a dynamic property priority strategy or a stability priority strategy. And finally, distributing the torque of the vehicle according to the target torque distribution coefficient. According to the scheme, torque distribution processing is carried out through the distribution strategy corresponding to the specific driving mode, the actual driving requirement of a driver can be met, and the economical efficiency is optimal or the power exertion is optimal on the premise that the stability of the vehicle is guaranteed.

Description

Technical Field

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

[0002] In recent years, more and more vehicles have multiple power sources arranged on the front and rear axles to improve the vehicle's power, economy and stability. This has put forward new requirements for the control of torque distribution between the front and rear axles.

[0003] In existing technical solutions, the processing of the driving torque between the front and rear axles mainly adopts the following method to determine the distribution ratio of the front and rear axle driving torque, that is, first setting one or more MAPs according to different driving modes, and obtaining the basic distribution coefficients of the front and rear axle torques by looking up the table. Then, the front and rear axle torque distribution correction coefficients obtained above are adjusted according to parameters such as yaw angular velocity, lateral acceleration, steering wheel angle, and longitudinal acceleration. Finally, considering the basic distribution coefficient and the correction coefficient comprehensively, the final torque distribution coefficient is obtained.

[0004] However, the basic torque distribution coefficients of the front and rear axles obtained by table lookup in the prior art are fixed, do not take into account the driver's usage environment and intentions, and cannot meet actual driving needs. Summary of the Invention

[0005] The present application provides a vehicle torque distribution method, device, vehicle and storage medium to solve the problem in the prior art that the fixed front and rear axle torque distribution coefficient cannot meet driving needs.

[0006] In a first aspect, the present application provides a vehicle torque distribution method, applied to a vehicle, the method comprising:

[0007] During the driving of the vehicle, obtaining a current driving mode of the vehicle, the driving mode being any one of an economic mode, a normal mode, a sports mode, or an off-road mode;

[0008] Calculating and obtaining a target torque distribution coefficient according to a torque distribution strategy corresponding to the driving mode; wherein the torque distribution strategy is any one of an economy priority strategy, a power priority strategy, or a stability priority strategy;

[0009] The torque of the vehicle is distributed according to the target torque distribution coefficient.

[0010] Optionally, if the driving mode is an economic mode, the torque distribution strategy corresponding to the economic mode is an economy priority strategy;

[0011] If the driving mode is the normal mode, the torque distribution strategy corresponding to the normal mode is the stability priority strategy;

[0012] If the driving mode is the sport mode, the torque distribution strategy corresponding to the sport mode is the power priority strategy;

[0013] If the driving mode is an off-road mode, the torque distribution strategy corresponding to the off-road mode is a power priority strategy.

[0014] Optionally, if the driving mode is an economic mode;

[0015] Accordingly, the target torque distribution coefficient is calculated based on the torque distribution strategy corresponding to the driving mode, including:

[0016] According to the economy priority strategy corresponding to the economy mode, with the goal of minimizing the total input power of the vehicle, a torque distribution coefficient that minimizes the total input power is obtained from a maximum value, a minimum value, and an average of the maximum and minimum values ​​of pre-configured front axle torque distribution coefficients, as the front axle torque distribution coefficient;

[0017] Calculating a rear axle torque distribution coefficient of the vehicle according to the front axle torque distribution coefficient, wherein the target torque distribution coefficient includes the front axle torque distribution coefficient and the rear axle torque distribution coefficient;

[0018] Among them, the total input power is calculated based on the total driving torque requirement of the vehicle, the actual collected average speed of the vehicle's front wheels and the average speed of the vehicle's rear wheels, the pre-configured power source efficiency of the vehicle's front wheels and the power source efficiency of the vehicle's rear wheels, and the front axle torque distribution coefficient.

[0019] Optionally, if the driving mode is normal mode;

[0020] Accordingly, the target torque distribution coefficient is calculated based on the torque distribution strategy corresponding to the driving mode, including:

[0021] According to the stability priority strategy corresponding to the normal mode, with the goal of ensuring the stability of the current lateral acceleration of the vehicle and maximizing the longitudinal acceleration of the vehicle, when the distance from the center of mass of the vehicle to the front axle is the same as the distance from the center of mass of the vehicle to the rear axle, a preset first calculation formula is used to calculate the front axle torque distribution coefficient of the vehicle;

[0022] When the distance from the center of mass of the vehicle to the front axle is different from the distance from the center of mass of the vehicle to the rear axle, a preset second calculation formula is used to calculate the front axle torque distribution coefficient of the vehicle;

[0023] The rear axle torque distribution coefficient of the vehicle is calculated based on the front axle torque distribution coefficient, and the target torque distribution coefficient includes the front axle torque distribution coefficient and the rear axle torque distribution coefficient.

[0024] Optionally, if the driving mode is off-road mode or sports mode;

[0025] Accordingly, the target torque distribution coefficient is calculated based on the torque distribution strategy corresponding to the driving mode, including:

[0026] calculating a front axle torque distribution coefficient of the vehicle using a preset third calculation formula according to a power priority strategy corresponding to the sport mode or the off-road mode, with the goal of ensuring a stable current longitudinal acceleration of the vehicle and maximizing the lateral acceleration of the vehicle;

[0027] The rear axle torque distribution coefficient of the vehicle is calculated based on the front axle torque distribution coefficient, and the target torque distribution coefficient includes the front axle torque distribution coefficient and the rear axle torque distribution coefficient.

[0028] Optionally, the method further includes:

[0029] After the vehicle is started, the driving mode of the vehicle is configured in response to a driving mode selection operation by a user.

[0030] In a second aspect, the present application further provides a vehicle torque distribution device, applied to a vehicle, the device comprising:

[0031] an acquisition module, configured to acquire a current driving mode of the vehicle during driving of the vehicle, wherein the driving mode is any one of an economic mode, a normal mode, a sports mode, or an off-road mode;

[0032] a calculation module, configured to calculate and obtain a target torque distribution coefficient according to a torque distribution strategy corresponding to the driving mode; wherein the torque distribution strategy is any one of an economy priority strategy, a power priority strategy, or a stability priority strategy;

[0033] A control module is configured to distribute the torque of the vehicle according to the target torque distribution coefficient.

[0034] Optionally, if the driving mode is an economic mode, the torque distribution strategy corresponding to the economic mode is an economy priority strategy;

[0035] If the driving mode is the normal mode, the torque distribution strategy corresponding to the normal mode is the stability priority strategy;

[0036] If the driving mode is the sport mode, the torque distribution strategy corresponding to the sport mode is the power priority strategy;

[0037] If the driving mode is an off-road mode, the torque distribution strategy corresponding to the off-road mode is a power priority strategy.

[0038] In a third aspect, the present application further provides a vehicle, comprising: a vehicle body and a vehicle controller;

[0039] Wherein, the vehicle controller includes a processor and a memory;

[0040] The memory stores computer-executable instructions;

[0041] The processor executes the computer-executable instructions stored in the memory to implement the torque distribution method for a vehicle as described in any one of the first aspects.

[0042] In a fourth aspect, the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the torque distribution method for a vehicle as described in any one of the first aspects.

[0043] In a fifth aspect, the present application further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it is used to implement the torque distribution method for a vehicle as described in any one of the first aspects.

[0044] The present application provides a vehicle torque distribution method, device, vehicle, and storage medium. The method includes: obtaining the vehicle's current driving mode during vehicle driving, where the driving mode is any one of economy mode, normal mode, sport mode, or off-road mode; calculating and obtaining a target torque distribution coefficient based on the torque distribution strategy corresponding to the driving mode; wherein the torque distribution strategy is any one of economy priority strategy, power priority strategy, or stability priority strategy; and distributing the vehicle's torque based on the target torque distribution coefficient. Through this method, the torque distribution strategy is determined based on the driving mode selected by the user, and the target distribution coefficient is calculated in real time based on different torque distribution strategies. This method avoids the problem of using fixed front and rear axle torque distribution coefficients in the prior art, improves the fit between vehicle torque distribution and actual user needs, and enhances the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0046] Figure 1A schematic flow chart of a first embodiment of a method for distributing torque to a vehicle provided in this application;

[0047] Figure 2 A schematic flow chart of a second embodiment of a vehicle torque distribution method provided in this application;

[0048] Figure 3 This is a flow chart of a third embodiment of the vehicle torque distribution method provided in this application;

[0049] Figure 4 This is a flow chart of a third embodiment of the vehicle torque distribution method provided in this application;

[0050] Figure 5 This is a structural schematic diagram of a first embodiment of a torque distribution device for a vehicle provided in this application;

[0051] Figure 6 A schematic structural diagram of a vehicle provided in this application.

[0052] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0053] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0054] The torque distribution coefficient of a vehicle usually refers to the ratio of power distribution between the front and rear drive vehicles. This ratio can affect the vehicle's driving performance and driving characteristics.

[0055] The torque split factor is typically determined by the vehicle manufacturer based on design and performance requirements. It depends on the vehicle type, application, and performance targets. Some vehicles may have a 50:50 front-to-rear axle torque split, with each wheel receiving half of the total torque, while others may have a different ratio, such as 60:40 or 70:30.

[0056] With the advancement of vehicle technology, multiple driving modes are now supported on the same vehicle, each requiring different handling performance. Currently, vehicles are configured with one or more engine control maps (MAPs) for each driving mode. A table lookup is used to determine the base torque distribution coefficients between the front and rear axles, which are then used to allocate power in each mode. In some cases, the obtained torque distribution coefficients can be modified based on parameters such as yaw rate, lateral acceleration, steering wheel angle, and longitudinal acceleration. The final torque distribution coefficients are then calculated by combining the base and modification coefficients.

[0057] However, the basic torque distribution coefficients of the front and rear axles obtained by table lookup in the prior art are fixed, do not take into account the driver's usage environment and intentions, and cannot meet actual driving needs.

[0058] In view of this, the inventors discovered during their research in the field of power distribution that drivers choose different driving models to correspond to different needs and purposes, and the needs mainly include the need to pursue power, the need to pursue stability, and the need to pursue economy. According to the user's needs and purposes, the front and rear axle torque distribution coefficients are dynamically calculated in combination with the vehicle's driving data. When determining the economic needs, the torque distribution strategy with the minimum input power is calculated; when pursuing power needs, the torque distribution strategy is calculated to ensure the longitudinal acceleration needs; when pursuing stability needs, the torque distribution strategy is calculated to ensure the lateral acceleration needs. This torque distribution strategy can better meet the driver's actual driving needs. Based on this, the present application proposes a vehicle torque distribution method, device, vehicle and storage medium.

[0059] The application scenario of the vehicle torque distribution method provided in this application is a vehicle, but the vehicle in the application scenario of this application is not limited to the vehicle type. It can be a new energy vehicle, a fuel vehicle, or a hybrid vehicle. The vehicle should at least have dual-drive capability.

[0060] The execution subject of this application may be a vehicle controller, or a processor of a controller with processing capabilities, or a chip with processing capabilities in a processor.

[0061] The following uses a vehicle controller as the execution subject to explain in detail the technical solution of this application and how it solves the above-mentioned technical problems through specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. The following embodiments of this application are described in conjunction with the accompanying drawings.

[0062] Figure 1 This is a flow chart of a first embodiment of the torque distribution method for a vehicle provided in this application, as shown in FIG. Figure 1 As shown, the method includes the following steps:

[0063] S101. During vehicle driving, obtain a current driving mode of the vehicle, where the driving mode is any one of an economic mode, a normal mode, a sports mode, or an off-road mode.

[0064] In this step, the user will select the driving mode of the vehicle before or during driving. In existing vehicle technology, driving modes can be divided into economic mode, normal mode, sports mode, off-road mode, etc. The type of driving mode selected by the user is obtained when torque distribution calculation is required.

[0065] Optionally, after the vehicle is started, the driving mode of the vehicle is configured in response to the user's driving mode selection operation. When the user does not select a driving mode, the normal mode or the last selected driving mode is defaulted.

[0066] In addition to obtaining the driving mode selected by the user, the vehicle's own data also needs to be obtained, including vehicle lateral acceleration, vehicle longitudinal acceleration, front axle motor speed, and rear wheel motor speed.

[0067] S102. Calculate and obtain a target torque distribution coefficient according to a torque distribution strategy corresponding to the driving mode; wherein the torque distribution strategy is any one of an economy priority strategy, a power priority strategy, or a stability priority strategy.

[0068] In this step, different driving modes within the same vehicle correspond to different front and rear axle torque distribution strategies, resulting in different handling experiences. The torque distribution strategy is pre-set to prioritize economy, power, or stability based on the user's actual needs. The corresponding torque distribution strategy is determined based on the user's selected driving mode.

[0069] If the driving mode is economic mode, the torque distribution strategy corresponding to the economic mode is the economy priority strategy;

[0070] If the driving mode is normal mode, the torque distribution strategy corresponding to normal mode is the stability priority strategy;

[0071] If the driving mode is sport mode, the torque distribution strategy corresponding to the sport mode is the power priority strategy;

[0072] If the driving mode is off-road mode, the torque distribution strategy corresponding to the off-road mode is the power priority strategy.

[0073] The target torque distribution coefficient is calculated based on the power distribution strategy corresponding to the driving model. Specifically, when the economy priority strategy is adopted, under the same required torque, speed conditions and output power, the minimum input power is used as the optimization goal, and the target torque distribution coefficient is calculated in real time using an improved dynamic optimization algorithm; when the stability priority strategy is adopted, the target torque distribution coefficient is calculated based on the steady-state motion equation of the vehicle, while ensuring that the current lateral acceleration of the vehicle is stable; when the power priority strategy is adopted, the target torque distribution coefficient is calculated based on the steady-state motion equation of the vehicle, while ensuring that the current longitudinal acceleration of the vehicle is stable.

[0074] S103 : Distribute the vehicle torque according to the target torque distribution coefficient.

[0075] In one implementation, the vehicle is equipped with an electronic control system that adjusts the torque distribution between the front and rear axles according to a target torque distribution coefficient.

[0076] In one implementation, a mechanical coupling device may be used in a vehicle drive system to adjust the torque distribution of the vehicle by adjusting the mechanical implementation of a differential or a center differential according to a target torque distribution system.

[0077] This embodiment provides a vehicle torque distribution method. During vehicle operation, the current driving mode of the vehicle is obtained, which can be any of economy mode, normal mode, sport mode, or off-road mode. A target torque distribution coefficient is calculated based on the torque distribution strategy corresponding to the driving mode. The torque distribution strategy can be any of economy priority, power priority, or stability priority. The vehicle torque is then distributed based on the target torque distribution coefficient. This method determines the torque distribution strategy based on the user's selected driving mode and calculates the target distribution coefficient in real time based on different torque distribution strategies. This method avoids the problem of using fixed front and rear axle torque distribution coefficients in the prior art, improves the fit between vehicle torque distribution and actual user needs, and enhances the user experience.

[0078] When the driving mode selected by the user is the economic mode, the corresponding torque distribution strategy is the economy priority strategy. The following uses an embodiment to explain how the economy priority strategy obtains the target torque distribution coefficient.

[0079] Figure 2 This is a flow chart of the second embodiment of the vehicle torque distribution method provided by this application, as shown in FIG. Figure 2 As shown, the method includes the following steps:

[0080] S201. According to the economy priority strategy corresponding to the economic mode, with the goal of minimizing the total input power of the vehicle, the torque distribution coefficient with the minimum total input power is obtained from the maximum value, minimum value, and average value of the pre-configured front axle torque distribution coefficient, as the front axle torque distribution coefficient.

[0081] In this step, the economy-first strategy adjusts torque distribution to minimize input power while maintaining constant output power, maximizing drive system efficiency. Drive system efficiency refers to the ratio of output power to input power. Under the same demand torque and motor speed conditions, with the same system output power, achieving maximum drive system efficiency is equivalent to minimizing input power.

[0082] Specifically, under the same output power, the front axle torque distribution coefficient with the minimum total input power is solved using a dynamic optimization algorithm based on the maximum value, minimum value, and average value of the pre-configured front axle torque distribution coefficient.

[0083] In one possible implementation, according to the total driving torque requirement T of the vehicle d , the actual collected average speed of the vehicle's front wheels ω f and the average speed of the vehicle's rear wheels ω r , the power source efficiency η of the pre-configured vehicle front wheels f and the power source efficiency η of the vehicle's rear wheels r , and the front axle torque distribution coefficient X f The total input power J is calculated using the following formula: P :

[0084]

[0085] According to the pre-configured front axle torque distribution coefficient X f The maximum value, minimum value, and average value of the maximum and minimum values ​​are obtained, and the total input power J is determined by the optimization method of “first local optimization, then global optimization”. P The minimum front axle torque distribution coefficient X f is the global optimal solution.

[0086] Specifically, X f The maximum value X max , minimum value X min , and the average value X of the maximum and minimum values avg Substitute into the above formula to obtain the total input power J when the front axle torque distribution coefficient is maximum P，max , the total input power J when the front axle torque distribution coefficient is minimum P，min , the total input power J when the front axle torque distribution coefficient is the average value P，avgThe three total output powers J P，min , J P，max , J P，avg For comparison:

[0087] If J P，min minimum, then the front axle torque distribution coefficient X f =X min ;

[0088] If J P，max minimum, then the front axle torque distribution coefficient X f =X max ;

[0089] If J P，avg Minimum, then compare J P，min and J P，max The size of is divided into three cases:

[0090] The first case J P，min <J P，max ,calculate Time P ' value, compare J P，avg and J P ′, take the distribution coefficient corresponding to the smaller value of the two total input powers as X f .

[0091] The second case J P，min >J P，max , then calculate Time P ″ value, compare J P，avg and J P ″, take the distribution coefficient corresponding to the two smaller values ​​of total input power as X f .

[0092] The third case J P，min =J P，max , then the torque distribution coefficient

[0093] The above is the calculation method of the front axle torque distribution coefficient, which can reduce the amount of calculation in conventional global optimization and improve the calculation speed.

[0094] S202 . Calculate a rear axle torque distribution coefficient of the vehicle based on the front axle torque distribution coefficient. The target torque distribution coefficient includes the front axle torque distribution coefficient and the rear axle torque distribution coefficient.

[0095] In this step, after obtaining the front axle torque distribution coefficient of the vehicle, the rear axle torque distribution coefficient of the vehicle is calculated based on the front axle torque distribution coefficient. In a specific implementation, the rear axle torque distribution coefficient is obtained by subtracting the front axle torque distribution coefficient from 100% or 1.

[0096] This embodiment provides a calculation method for obtaining the target torque distribution coefficient using an economy-first strategy. Based on the total driving torque demand of the vehicle, the actual average speed of the vehicle's front wheels and the average speed of the vehicle's rear wheels, the pre-configured power source efficiency of the vehicle's front wheels and the power source efficiency of the vehicle's rear wheels, and the front axle torque distribution coefficient, the maximum and minimum values ​​of the pre-configured front axle torque distribution coefficient, and the average of the maximum and minimum values ​​are used to calculate the target torque distribution coefficient in real time using a dynamic optimization method. This method calculates the target torque distribution coefficient in real time based on the actual driving state of the vehicle, and the distribution method is more reasonable. This torque distribution can minimize the input power while ensuring the output power, which is more in line with the actual needs of users who choose this mode.

[0097] It should be noted that in the embodiment, the target torque distribution coefficient is calculated using the maximum, minimum and average values ​​of the pre-configured front axle torque distribution coefficient. Dynamic optimization can also be performed using the maximum, minimum and average values ​​of the pre-configured rear axle torque distribution, and the calculation method is similar.

[0098] When the driving mode selected by the user is the normal mode, the corresponding torque distribution strategy is the stability priority strategy. The following uses an embodiment to explain how the stability priority strategy obtains the target torque distribution coefficient.

[0099] Figure 3 This is a flow chart of the third embodiment of the vehicle torque distribution method provided by this application, as shown in FIG. Figure 3 As shown, the method includes the following steps:

[0100] S301. According to the stability priority strategy corresponding to the normal mode, with the goal of ensuring the stability of the vehicle's current lateral acceleration and maximizing the vehicle's longitudinal acceleration, when the distance from the vehicle's center of mass to the front axle is the same as the distance from the vehicle's center of mass to the rear axle, a preset first calculation formula is used to calculate the vehicle's front axle torque distribution coefficient.

[0101] Among them, the preset first calculation formula is:

[0102]

[0103] In this step, when the user selects the normal mode, the user's requirement is determined to be to obtain maximum power while ensuring stability, that is, to ensure the stability of the vehicle's lateral acceleration and obtain the torque distribution of the front and rear axles when the vehicle's longitudinal acceleration is maximized.

[0104] First, obtain the theoretical vehicle steady-state motion equation:

[0105]

[0106]

[0107] In the steady-state equation of motion, X f is the front axle torque distribution coefficient; M is the vehicle mass; a x is the vehicle longitudinal acceleration; a y is the lateral acceleration of the vehicle; a, b, and L are the distance from the center of mass to the front axle, the distance from the center of mass to the rear axle, and the wheelbase, respectively; μ f and μ r is the front axle adhesion coefficient and the rear axle adhesion coefficient; F zf and F zr are the front axle load and the rear axle load respectively.

[0108] Among them, the vehicle mass can be a preset constant, a x The vehicle longitudinal acceleration is the actual value collected; a y The lateral acceleration of the vehicle is the actual value collected; a, b, and L are constants set by the vehicle before leaving the factory; the front axle adhesion coefficient and the rear axle adhesion coefficient are calculated based on the vehicle wheel speed and slip rate or set to fixed values; the front axle load and the rear axle load are load data collected in real time or preset fixed values.

[0109] Optionally, the vehicle mass can also be calculated based on the number of people inside the vehicle. Specifically, the number of people in the vehicle is identified by the camera inside the vehicle, and the final vehicle mass is obtained by multiplying the number of people by the preset weight of the people and adding the mass of the vehicle body. In one possible implementation, the identified vehicle people are divided into male and female, and the preset weights corresponding to different genders are different; in one possible implementation, the identified vehicle people are divided into adults and minors, and the preset weights corresponding to adults and minors are different; in one possible implementation, the mass of the vehicle trunk storage can be obtained through a weight sensor, and the mass of the trunk storage also needs to be calculated when calculating the vehicle mass.

[0110] To maintain vehicle stability, priority is given to maintaining the vehicle's lateral acceleration, that is, when the longitudinal direction changes during vehicle motion, the torque distribution can still provide at least the same lateral acceleration. Therefore, in the above steady-state motion equation, the current vehicle lateral acceleration a is obtained y , in order to keep it stable, reverse solve the required torque distribution coefficient.

[0111] In some vehicle designs, the distance a from the center of mass of the vehicle to the front axle is the same as the distance b from the center of mass of the vehicle to the rear axle. In this case, the steady-state motion equation of the vehicle is and If the terms are equal, then reversely solve X according to the above steady-state motion equation formula f, thus obtaining the above-mentioned preset first calculation formula.

[0112] S302: When the distance from the center of mass of the vehicle to the front axle is different from the distance from the center of mass of the vehicle to the rear axle, a front axle torque distribution coefficient of the vehicle is calculated using a preset second calculation formula.

[0113] The preset second calculation formula is:

[0114]

[0115] In some vehicle designs, the distance a from the center of mass of the vehicle to the front axle is different from the distance b from the center of mass of the vehicle to the rear axle. x Reverse solve for X f , and obtain the above preset second calculation formula:

[0116] According to solving X f The second calculation formula is to convert a x Substituting the vehicle's longitudinal acceleration into the above formula, we can obtain the front axle torque distribution coefficient required to ensure lateral acceleration stability at every moment during the vehicle's driving process.

[0117] S303 . Calculate a rear axle torque distribution coefficient of the vehicle based on the front axle torque distribution coefficient. The target torque distribution coefficient includes the front axle torque distribution coefficient and the rear axle torque distribution coefficient.

[0118] In a specific implementation, the rear axle torque distribution coefficient is obtained by subtracting the front axle torque distribution coefficient from 1.

[0119] In one possible implementation, after obtaining the front torque distribution coefficient, the front axle torque distribution coefficient is adjusted according to the road conditions, and then the rear axle torque distribution coefficient is obtained by subtracting the adjusted front axle torque distribution coefficient from 1.

[0120] This embodiment provides a vehicle torque distribution method. When using a stability-prioritized strategy, the method ensures the stability of the vehicle's current lateral acceleration and targets maximizing the vehicle's longitudinal acceleration. The method then calculates the front axle torque distribution coefficient based on a modified version of the vehicle's steady-state motion equation, thereby determining the target torque distribution coefficient. This method is applicable to situations where the distance from the vehicle's center of mass to the front axle and the distance from the vehicle's center of mass to the rear axle are equal or different. It determines the torque distribution while maintaining stable lateral acceleration based on the vehicle's actual driving conditions, avoiding the use of fixed torque distribution coefficients and improving the driving experience.

[0121] When the driving mode selected by the user is the sport mode or the off-road mode, the corresponding torque distribution strategy is the power priority strategy. The following uses an embodiment to explain how the power priority strategy obtains the target torque distribution coefficient.

[0122] Figure 4 This is a flow chart of the third embodiment of the vehicle torque distribution method provided by this application, as shown in FIG. Figure 4 As shown, the method includes the following steps:

[0123] S401. Calculate the front axle torque distribution coefficient of the vehicle using a preset third calculation formula based on the dynamics priority strategy corresponding to the sport mode or the off-road mode, with the goal of ensuring the stability of the vehicle's current longitudinal acceleration and maximizing the vehicle's lateral acceleration.

[0124] Among them, the preset third calculation formula is:

[0125]

[0126] In this step, when the user selects sports mode or off-road mode, the user's needs are determined to be to obtain maximum stability while ensuring power, that is, to ensure the stability of the vehicle's longitudinal acceleration and obtain the torque distribution of the front and rear axles when the vehicle's lateral acceleration is maximized.

[0127] First, obtain the theoretical vehicle steady-state motion equation:

[0128]

[0129]

[0130] In the steady-state equation of motion, X f is the front axle torque distribution coefficient; M is the vehicle mass; a x is the vehicle longitudinal acceleration; a y is the lateral acceleration of the vehicle; a, b, and L are the distance from the center of mass to the front axle, the distance from the center of mass to the rear axle, and the wheelbase, respectively; μ f and μ r is the front axle adhesion coefficient and the rear axle adhesion coefficient; F zf and F zr are the front axle load and the rear axle load respectively.

[0131] In order to maintain the mobility of the vehicle, the priority is to ensure the vehicle dynamics, that is, the longitudinal acceleration of the vehicle. When the lateral changes occur during the vehicle movement, the torque distribution can still provide at least the same longitudinal acceleration. Therefore, in the above steady-state motion equation, the currently obtained a x is the vehicle's longitudinal acceleration. To maintain the stability of the longitudinal acceleration, the required torque distribution is solved inversely. Based on this, the torque distribution can be calculated according to a x The invariance of constructing the equation, the above formula is transformed into:

[0132]

[0133]

[0134] Solve for X f , you can get the preset third calculation formula shown above.

[0135] According to solving X f The formula is a y Substituting the vehicle's lateral acceleration into the above formula, the front axle torque distribution coefficient required to ensure the vehicle's longitudinal acceleration stability at each moment during the vehicle's driving process is obtained.

[0136] S402 : Calculate a rear axle torque distribution coefficient of the vehicle based on the front axle torque distribution coefficient. The target torque distribution coefficient includes the front axle torque distribution coefficient and the rear axle torque distribution coefficient.

[0137] In a specific implementation, the rear axle torque distribution coefficient is obtained by subtracting the front axle torque distribution coefficient from 1.

[0138] In one possible implementation, after obtaining the front torque distribution coefficient, the front axle torque distribution coefficient is adjusted according to the road conditions, and then the rear axle torque distribution coefficient is obtained by subtracting the adjusted front axle torque distribution coefficient from 1.

[0139] This embodiment provides a vehicle torque distribution method. When prioritizing dynamics, the method ensures the stability of the vehicle's current longitudinal acceleration and targets maximizing the vehicle's lateral acceleration. The method then calculates the front axle torque distribution coefficient based on a modified version of the vehicle's steady-state motion equation, thereby determining the target torque distribution coefficient. This method allows the torque distribution coefficient to be determined based on the vehicle's actual driving conditions when prioritizing dynamics, avoiding the use of a fixed torque distribution coefficient and improving the driving experience.

[0140] Figure 5 This is a structural diagram of the first embodiment of the torque distribution device for a vehicle provided in this application, as shown in FIG. Figure 5 As shown, the vehicle torque distribution device 10 is applied to a vehicle, and the vehicle torque distribution device 10 includes:

[0141] An acquisition module 11 is configured to acquire a current driving mode of the vehicle during driving, wherein the driving mode is any one of an economic mode, a normal mode, a sports mode, and an off-road mode;

[0142] a calculation module 12 for calculating and obtaining a target torque distribution coefficient according to a torque distribution strategy corresponding to the driving mode; wherein the torque distribution strategy is any one of an economy priority strategy, a power priority strategy, or a stability priority strategy;

[0143] The control module 13 is configured to distribute the torque of the vehicle according to the target torque distribution coefficient.

[0144] Optionally, if the driving mode is an economic mode, the torque distribution strategy corresponding to the economic mode is an economy priority strategy;

[0145] If the driving mode is the normal mode, the torque distribution strategy corresponding to the normal mode is the stability priority strategy;

[0146] If the driving mode is the sport mode, the torque distribution strategy corresponding to the sport mode is the power priority strategy;

[0147] If the driving mode is an off-road mode, the torque distribution strategy corresponding to the off-road mode is a power priority strategy.

[0148] Optionally, if the driving mode is an economic mode;

[0149] Accordingly, the calculation module 12 is used to:

[0150] According to the economy priority strategy corresponding to the economy mode, with the goal of minimizing the total input power of the vehicle, a torque distribution coefficient that minimizes the total input power is obtained from a maximum value, a minimum value, and an average of the maximum and minimum values ​​of pre-configured front axle torque distribution coefficients, as the front axle torque distribution coefficient;

[0151] Calculating a rear axle torque distribution coefficient of the vehicle according to the front axle torque distribution coefficient, wherein the target torque distribution coefficient includes the front axle torque distribution coefficient and the rear axle torque distribution coefficient;

[0152] Among them, the total input power is calculated based on the total driving torque requirement of the vehicle, the actual collected average speed of the vehicle's front wheels and the average speed of the vehicle's rear wheels, the pre-configured power source efficiency of the vehicle's front wheels and the power source efficiency of the vehicle's rear wheels, and the front axle torque distribution coefficient.

[0153] Optionally, if the driving mode is normal mode;

[0154] Accordingly, the calculation module 12 is used to:

[0155] According to the stability priority strategy corresponding to the normal mode, with the goal of ensuring the stability of the current lateral acceleration of the vehicle and maximizing the longitudinal acceleration of the vehicle, when the distance from the center of mass of the vehicle to the front axle is the same as the distance from the center of mass of the vehicle to the rear axle, a preset first calculation formula is used to calculate the front axle torque distribution coefficient of the vehicle;

[0156] When the distance from the center of mass of the vehicle to the front axle is different from the distance from the center of mass of the vehicle to the rear axle, a front axle torque distribution coefficient of the vehicle is calculated using a preset second calculation formula;

[0157] The rear axle torque distribution coefficient of the vehicle is calculated based on the front axle torque distribution coefficient, and the target torque distribution coefficient includes the front axle torque distribution coefficient and the rear axle torque distribution coefficient.

[0158] Optionally, if the driving mode is off-road mode or sports mode;

[0159] Accordingly, the calculation module 12 is used to:

[0160] calculating a front axle torque distribution coefficient of the vehicle using a preset third calculation formula according to a power priority strategy corresponding to the sport mode or the off-road mode, with the goal of ensuring a stable current longitudinal acceleration of the vehicle and maximizing the lateral acceleration of the vehicle;

[0161] The rear axle torque distribution coefficient of the vehicle is calculated based on the front axle torque distribution coefficient, and the target torque distribution coefficient includes the front axle torque distribution coefficient and the rear axle torque distribution coefficient.

[0162] Optionally, the acquisition module 11 is further configured to:

[0163] After the vehicle is started, the driving mode of the vehicle is configured in response to a driving mode selection operation by a user.

[0164] The vehicle torque distribution device provided in the embodiment of the present application is used to implement the vehicle torque distribution method described in any one of the aforementioned method embodiments. Its implementation principle and technical effects are similar and will not be described in detail here.

[0165] Figure 6 A schematic diagram of the structure of a vehicle provided in this application, such as Figure 6 As shown, the vehicle 100 includes: a vehicle body 110 and a vehicle controller 120;

[0166] The vehicle controller 120 includes a processor 121 and a memory 122;

[0167] The memory 122 stores computer-executable instructions;

[0168] The processor 121 executes the computer-executable instructions stored in the memory to implement the vehicle torque distribution method described in any of the above method embodiments.

[0169] Optionally, the vehicle 100 further includes a gyroscope for collecting the longitudinal acceleration and lateral acceleration of the vehicle;

[0170] Optionally, the vehicle 100 further includes a speed sensor for obtaining the speed of the vehicle's front and rear axle motors.

[0171] Optionally, the above-mentioned components of the vehicle 100 can be connected via a system bus.

[0172] Optionally, the memory 122 may be a separate storage unit.

[0173] Optionally, the vehicle also includes a touch display screen for receiving input signals from the user and changing the driving mode.

[0174] The processor 121 may be a central processing unit (CPU), or other general-purpose processor, digital signal processor (DSP), or application-specific integrated circuit (ASIC). A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in this application may be directly implemented by a hardware processor or implemented by a combination of hardware and software modules in the processor.

[0175] The system bus can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. System buses can be divided into address buses, data buses, and control buses. For ease of illustration, the diagram uses only a single thick line, but this does not imply a single bus or type of bus. Memory may include random access memory (RAM) and non-volatile memory (NVM), such as at least one disk drive.

[0176] All or part of the steps of the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a readable memory. When the program is executed, it performs the steps of the above-mentioned method embodiments; and the aforementioned memory (storage medium) includes: read-only memory (ROM), RAM, flash memory, hard disk, solid-state drive, magnetic tape, floppy disk, optical disc, and any combination thereof.

[0177] The vehicle provided in the embodiment of the present application is used to implement the torque distribution method for the vehicle described in any one of the aforementioned method embodiments. Its implementation principle and technical effects are similar and will not be described in detail here.

[0178] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the torque distribution method for a vehicle as described in any one of the aforementioned method embodiments.

[0179] It is understood that the memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. It should be noted that the memory mentioned above is intended to include but is not limited to these and any other suitable types of memory.

[0180] An embodiment of the present application also provides a computer program product, which includes a computer program stored in a computer-readable storage medium. At least one processor can read the computer program from the computer-readable storage medium. When at least one processor executes the computer program, it can implement the vehicle torque distribution method described in any one of the aforementioned method embodiments.

[0181] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of the present application and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0182] It should be understood that the present application is not limited to the exact structure described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A torque distribution method for a vehicle, characterized in that: Applied to a vehicle, the method comprises: During the driving of the vehicle, obtaining a current driving mode of the vehicle, the driving mode being any one of an economic mode, a normal mode, a sports mode, or an off-road mode; Calculating and obtaining a target torque distribution coefficient according to a torque distribution strategy corresponding to the driving mode; wherein the torque distribution strategy is any one of an economy priority strategy, a power priority strategy, or a stability priority strategy; The torque of the vehicle is distributed according to the target torque distribution coefficient.

2. The method according to claim 1, characterized in that If the driving mode is the economic mode, the torque distribution strategy corresponding to the economic mode is the economy priority strategy; If the driving mode is the normal mode, the torque distribution strategy corresponding to the normal mode is the stability priority strategy; If the driving mode is the sport mode, the torque distribution strategy corresponding to the sport mode is the power priority strategy; If the driving mode is an off-road mode, the torque distribution strategy corresponding to the off-road mode is a power priority strategy.

3. The method according to claim 2, characterized in that If the driving mode is the economic mode; Accordingly, the target torque distribution coefficient is calculated based on the torque distribution strategy corresponding to the driving mode, including: According to the economy priority strategy corresponding to the economy mode, with the goal of minimizing the total input power of the vehicle, a torque distribution coefficient that minimizes the total input power is obtained from a maximum value, a minimum value, and an average of the maximum and minimum values ​​of pre-configured front axle torque distribution coefficients, as the front axle torque distribution coefficient; Calculating a rear axle torque distribution coefficient of the vehicle according to the front axle torque distribution coefficient, wherein the target torque distribution coefficient includes the front axle torque distribution coefficient and the rear axle torque distribution coefficient; Among them, the total input power is calculated based on the total driving torque requirement of the vehicle, the actual collected average speed of the vehicle's front wheels and the average speed of the vehicle's rear wheels, the pre-configured power source efficiency of the vehicle's front wheels and the power source efficiency of the vehicle's rear wheels, and the front axle torque distribution coefficient.

4. The method according to claim 2, characterized in that If the driving mode is normal mode; Accordingly, the target torque distribution coefficient is calculated based on the torque distribution strategy corresponding to the driving mode, including: According to the stability priority strategy corresponding to the normal mode, with the goal of ensuring the stability of the current lateral acceleration of the vehicle and maximizing the longitudinal acceleration of the vehicle, when the distance from the center of mass of the vehicle to the front axle is the same as the distance from the center of mass of the vehicle to the rear axle, a preset first calculation formula is used to calculate the front axle torque distribution coefficient of the vehicle; When the distance from the center of mass of the vehicle to the front axle is different from the distance from the center of mass of the vehicle to the rear axle, a preset second calculation formula is used to calculate the front axle torque distribution coefficient of the vehicle; The rear axle torque distribution coefficient of the vehicle is calculated based on the front axle torque distribution coefficient, and the target torque distribution coefficient includes the front axle torque distribution coefficient and the rear axle torque distribution coefficient.

5. The method according to claim 2, characterized in that If the driving mode is off-road mode or sports mode; Accordingly, the target torque distribution coefficient is calculated based on the torque distribution strategy corresponding to the driving mode, including: calculating a front axle torque distribution coefficient of the vehicle using a preset third calculation formula according to a power priority strategy corresponding to the sport mode or the off-road mode, with the goal of ensuring a stable current longitudinal acceleration of the vehicle and maximizing the lateral acceleration of the vehicle; The rear axle torque distribution coefficient of the vehicle is calculated based on the front axle torque distribution coefficient, and the target torque distribution coefficient includes the front axle torque distribution coefficient and the rear axle torque distribution coefficient.

6. The method according to any one of claims 1 to 5, characterized in that The method further comprises: After the vehicle is started, the driving mode of the vehicle is configured in response to a driving mode selection operation by a user.

7. A torque distribution device for a vehicle, characterized in that: Applied to a vehicle, the device comprises: an acquisition module, configured to acquire a current driving mode of the vehicle during driving of the vehicle, wherein the driving mode is any one of an economic mode, a normal mode, a sports mode, or an off-road mode; a calculation module, configured to calculate and obtain a target torque distribution coefficient according to a torque distribution strategy corresponding to the driving mode; wherein the torque distribution strategy is any one of an economy priority strategy, a power priority strategy, or a stability priority strategy; A control module is configured to distribute the torque of the vehicle according to the target torque distribution coefficient.

8. The device according to claim 7, characterized in that If the driving mode is the economic mode, the torque distribution strategy corresponding to the economic mode is the economy priority strategy; If the driving mode is the normal mode, the torque distribution strategy corresponding to the normal mode is the stability priority strategy; If the driving mode is the sport mode, the torque distribution strategy corresponding to the sport mode is the power priority strategy; If the driving mode is an off-road mode, the torque distribution strategy corresponding to the off-road mode is a power priority strategy.

9. A vehicle comprising: A vehicle body and a vehicle controller; Wherein, the vehicle controller includes a processor and a memory; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the torque distribution method for a vehicle according to any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the vehicle torque distribution method according to any one of claims 1 to 6.

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