Torque distribution method and device
By acquiring tire condition data to determine the rolling radius deviation and adjusting the torque distribution, the yaw problem of four-wheel drive vehicles when tire pressure is unbalanced is solved, thus improving the vehicle's stability and safety.
Patent Information
- Application Number
- CN202511007537.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-22
- Publication Date
- 2025-11-11
AI Technical Summary
Existing four-wheel drive vehicles cannot flexibly adjust torque distribution according to different operating conditions during vehicle operation. In particular, when tire pressure is unbalanced, it is easy to cause yaw and fishtailing, which affects vehicle stability.
By acquiring tire condition data during vehicle operation, the rolling radius deviation of the left and right tires on the same axle is determined, and the torque distribution is adjusted based on this deviation, including adjusting the original output torque of the target motor and the rolling resistance coefficient, in order to correct the vehicle's yaw motion.
It enables timely correction of vehicle yaw motion in the event of tire pressure imbalance, preventing fishtailing and improving vehicle handling stability and safety.
Smart Images
Figure CN120921933A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of vehicle control technology, and in particular to a torque distribution method and device. Background Technology
[0002] With the continuous development of the automotive industry, two-wheel drive vehicles can no longer meet the needs of users. As a result, four-wheel drive vehicles have become increasingly popular due to their superior off-road and handling performance. Torque distribution technology, as a key technology in four-wheel drive vehicles, can rationally distribute four-wheel drive torque, giving the vehicle better power, economy, and stability.
[0003] However, existing four-wheel drive vehicles usually distribute torque in a fixed ratio and cannot adjust the torque distribution in a timely manner according to different operating conditions during vehicle operation. This affects the stability of the vehicle under different operating conditions. In particular, when the vehicle experiences tire pressure imbalance (such as a tire blowout), the vehicle will yaw, and at higher speeds, it may even cause the vehicle to fishtail severely, leading to an accident. If the torque distribution of the vehicle is not adjusted in time, the vehicle is at high risk of instability. Summary of the Invention
[0004] This application provides a torque distribution method to address the shortcomings of existing technologies where vehicle torque distribution cannot be flexibly adjusted, thereby improving vehicle handling stability and reducing the risk of vehicle instability.
[0005] In a first aspect, this application provides a torque distribution method, including:
[0006] Acquire tire status data during vehicle operation;
[0007] Based on the tire condition data, the rolling radius deviation of the left and right tires on the same axle is determined;
[0008] Based on the rolling radius deviation, the torque distribution corresponding to the left and right tires is adjusted.
[0009] Optionally, the tire condition data includes tire pressure and tire load, and determining the rolling radius deviation of the left and right tires on the same axle based on the tire condition data includes:
[0010] The rolling radius of the left and right tires is determined based on the tire pressure and tire load of the coaxial left and right tires.
[0011] The rolling radius deviation of the left and right tires is determined based on the difference between their rolling radii.
[0012] Optionally, adjusting the torque distribution corresponding to the left and right tires based on the rolling radius deviation includes:
[0013] Determine the target motor corresponding to the tire with the largest rolling radius among the left and right tires;
[0014] Based on the rolling radius deviation, the original output torque of the target motor is adjusted.
[0015] Optionally, adjusting the original output torque of the target motor based on the rolling radius deviation includes:
[0016] Based on the vehicle speed and the tire pressure of the left and right tires, the rolling resistance coefficient of the left and right tires is determined.
[0017] The deviation of the rolling resistance coefficients of the left and right tires is determined based on the difference between the rolling resistance coefficients of the left and right tires.
[0018] Based on the rolling resistance coefficient deviation and the rolling radius deviation, a first torque distribution correction amount is determined;
[0019] Based on the original output torque of the target motor and the rolling radius deviation, a second torque distribution correction amount is determined;
[0020] The original output torque of the target motor is adjusted based on the first torque distribution correction amount and the second torque distribution correction amount.
[0021] Optionally, adjusting the original output torque of the target motor based on the first torque distribution correction amount and the second torque distribution correction amount includes:
[0022] The total correction amount is determined based on the sum of the first torque distribution correction amount and the second torque distribution correction amount;
[0023] The adjusted target output torque of the target motor is determined based on the difference between the original output torque of the target motor and the total correction amount.
[0024] Optionally, adjusting the torque distribution corresponding to the left and right tires based on the rolling radius deviation includes:
[0025] When the rolling radius deviation is detected to be greater than a preset threshold, the torque distribution corresponding to the left and right tires is adjusted based on the rolling radius deviation.
[0026] Secondly, this application also provides a torque distribution device, comprising:
[0027] The acquisition module is used to acquire tire status data during vehicle operation;
[0028] The determination module is used to determine the rolling radius deviation of the left and right tires on the same axle based on the tire condition data;
[0029] The adjustment module is used to adjust the torque distribution corresponding to the left and right tires based on the rolling radius deviation.
[0030] Thirdly, this application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method described in the first aspect.
[0031] Fourthly, this application also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in the first aspect.
[0032] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the method described in the first aspect.
[0033] The torque distribution method and apparatus provided in this application determine the rolling radius deviation of the left and right tires on the same axle of the vehicle by acquiring tire state data during vehicle driving. Based on the rolling radius deviation, the torque distribution corresponding to the left and right tires on the same axle of the vehicle is adjusted. Thus, even if the vehicle experiences tire pressure imbalance (such as a tire blowout), the yaw motion of the vehicle can be corrected in time to avoid fishtailing. Attached Figure Description
[0034] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0035] Figure 1 This is a schematic flowchart of the torque distribution method provided in the embodiments of this application;
[0036] Figure 2 This is a schematic diagram of the torque distribution device provided in the embodiments of this application;
[0037] Figure 3 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation
[0038] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0039] Figure 1 This is a schematic flowchart of the torque distribution method provided in an embodiment of this application. (Refer to...) Figure 1 This application provides a torque distribution method, the execution subject of which can be a vehicle torque distribution device or control system. This device can be implemented in hardware and / or software. The device or system can be located in a terminal or a server. The terminal can include an in-vehicle terminal or a user terminal, and the server can be a server that communicates with the vehicle; no specific limitation is imposed. The following description uses a control system as the execution subject. The method can include:
[0040] Step 110: Obtain tire status data during vehicle operation;
[0041] Step 120: Based on the tire condition data, determine the rolling radius deviation of the left and right tires on the same axle;
[0042] Step 130: Based on the rolling radius deviation, adjust the torque distribution corresponding to the left and right tires.
[0043] In step 110, the control system can acquire tire status data during vehicle operation in real time or periodically.
[0044] The vehicle in question can refer to either a pure electric four-wheel drive vehicle or a hybrid four-wheel drive vehicle. This vehicle can be powered by an onboard power source, using an electric motor to drive the wheels. Tire condition data during vehicle operation may include, but is not limited to, tire pressure, tire load, and tire temperature. Tire pressure refers to the pressure of the air inside the tire, and tire load refers to the maximum weight the tire can withstand under standard tire pressure.
[0045] Alternatively, tire pressure during vehicle operation can be measured using pressure sensors integrated into a direct tire pressure monitoring system.
[0046] Optionally, the tire load during vehicle operation can be calculated using formulas related to vehicle dynamics.
[0047] In step 120, the control system can determine the rolling radius deviation of the left and right tires on the same axle based on the tire condition data.
[0048] The rolling radius of a tire refers to the radius of one complete revolution of the tire on the ground. The difference in rolling radius between the left and right tires on the same axle can be the difference between the rolling radius of the left tire and the rolling radius of the right tire, both located on the same drive axle.
[0049] Optionally, the rolling radius deviation of the left and right tires on the same axle can refer to the rolling radius deviation of the left and right tires on the front drive axle of the vehicle, or it can refer to the rolling radius deviation of the left and right tires on the rear drive axle of the vehicle; there is no limitation here.
[0050] In step 130, the control system can adjust the torque distribution corresponding to the left and right tires based on the rolling radius deviation.
[0051] Torque can refer to the force that causes an object to rotate; in the case of an electric motor, torque refers to the torque output from the crankshaft. Currently, after the vehicle analyzes the torque demanded by the driver from the accelerator pedal, it distributes a portion to the front drive shaft and a portion to the rear drive shaft according to a set ratio. For a specific drive shaft, a portion of the torque is further distributed to the motor corresponding to the left tire and a portion to the motor corresponding to the right tire, also according to a set ratio.
[0052] When a vehicle experiences tire pressure imbalance (such as a tire blowout), it will yaw, and at higher speeds, this can even cause severe fishtailing and lead to accidents. Therefore, in this embodiment, for a distributed four-wheel drive vehicle with four wheels that can be driven independently, the torque distribution between the left and right wheels can be adjusted by the aforementioned rolling radius deviation to correct the vehicle's yaw and prevent fishtailing.
[0053] The torque distribution method provided in this application obtains tire state data during vehicle operation to determine the rolling radius deviation of the left and right tires on the same axle of the vehicle. Based on this rolling radius deviation, the torque distribution corresponding to the left and right tires on the same axle of the vehicle is adjusted. Thus, even if the vehicle experiences tire pressure imbalance (such as a tire blowout), the vehicle's yaw motion can be corrected in time to avoid fishtailing.
[0054] In one embodiment, the control system can determine the rolling radius deviation of the left and right tires on the same axle based on the tire pressure and tire load of each tire of the vehicle.
[0055] Specifically, the control system can determine the rolling radius of the left and right tires based on the tire pressure and tire load of the left and right tires on the same axle; and then determine the rolling radius deviation of the left and right tires based on the difference between the rolling radii of the left and right tires.
[0056] Optionally, a preset correspondence between tire pressure, tire load, and tire rolling radius can be established to determine the tire rolling radius of the vehicle during its current driving. This preset correspondence can be expressed as a functional relationship or in tabular form. Specific functional relationships and tables can be obtained from a large amount of experimental data, and this application does not limit the specific examples.
[0057] Optionally, a two-dimensional calibration table can be created, with tire pressure on the horizontal axis and tire load on the vertical axis, outputting the tire rolling radius. This allows for real-time calculation of the current tire rolling radius by combining tire pressure and load data collected during the vehicle's current driving process. This two-dimensional calibration table can be obtained through individual static testing of the tire.
[0058] Thus, after calculating the rolling radius of each tire on the vehicle, the control system can calculate the rolling radius deviation between the left and right tires on the same drive axle. This rolling radius deviation can then reflect the tire pressure deviation, allowing for timely detection of any tire pressure imbalance.
[0059] In one embodiment, when the control system adjusts the torque distribution corresponding to the left and right tires on the same axle, it may adjust the torque of the motor corresponding to the side with the larger tire rolling radius.
[0060] Specifically, the control system can first determine the target motor corresponding to the tire with the largest rolling radius among the left and right tires on the same axle, and then adjust the original output torque of the target motor based on the aforementioned rolling radius deviation.
[0061] The target motor is used to drive the tire with the largest rolling radius. The initial output torque of the target motor can be obtained by the control system according to a pre-set torque distribution coefficient. It is understood that if the target motor continues to drive the vehicle with its initial output torque when tire pressure is unbalanced, yaw motion will occur, leading to vehicle instability. Therefore, in this embodiment, to improve this situation, the initial output torque of the target motor is adjusted based on the aforementioned rolling radius deviation. This adjustment may involve reducing the output torque of the target motor to ensure the vehicle maintains straight-line travel.
[0062] In one embodiment, the control system can accurately calculate the torque value that needs to be adjusted by combining the rolling resistance coefficient of the tire.
[0063] Specifically, the control system can determine the rolling resistance coefficients of the left and right tires on the same axle based on the vehicle speed and the tire pressure of the left and right tires on the same axle; then, based on the difference between the rolling resistance coefficients of the left and right tires on the same axle, it can determine the rolling resistance coefficient deviation of the left and right tires on the same axle; thereby, the control system can determine a first torque distribution correction amount based on the rolling resistance coefficient deviation and the rolling radius deviation; and determine a second torque distribution correction amount based on the original output torque of the target motor and the rolling radius deviation; and adjust the original output torque of the target motor based on the first torque distribution correction amount and the second torque distribution correction amount.
[0064] Rolling resistance coefficient is a core parameter measuring energy loss when a vehicle tire contacts the road surface, and its value is affected by multiple factors such as tire material, tire pressure, and road conditions. The difference in rolling resistance coefficient between the left and right tires on the same axle refers to the difference between the rolling resistance coefficient of the left tire and the rolling resistance coefficient of the right tire, both located on the same drive axle. The first torque distribution correction and the second torque distribution correction can be understood as the specific amount of torque that needs to be reduced when decreasing the original output torque of the target motor.
[0065] Optionally, a preset correspondence between tire pressure, vehicle speed, and tire rolling resistance coefficient can be established to determine the tire rolling resistance coefficient when the vehicle is currently in motion. This preset correspondence can be expressed as a functional relationship or in tabular form. Specific functional relationships and tables can be obtained from a large amount of experimental data, and this application does not limit the specific examples.
[0066] Optionally, a two-dimensional calibration table can be created, with tire pressure on the horizontal axis and vehicle speed on the vertical axis, outputting the estimated rolling resistance coefficient. This allows for real-time calculation of the estimated rolling resistance coefficient by combining tire pressure and vehicle speed data collected during the vehicle's current operation. This two-dimensional calibration table can be obtained through chassis dynamometer testing.
[0067] Thus, after calculating the estimated rolling resistance coefficient of each tire on the vehicle, the control system can calculate the difference in estimated rolling resistance coefficient between the left and right tires on the same drive axle. This difference in estimated rolling resistance coefficient can then reflect the tire pressure deviation, allowing for corresponding torque adjustments.
[0068] Optionally, a preset correspondence can be established between the rolling radius deviation, the rolling resistance coefficient deviation, and the first torque distribution correction amount. This preset correspondence can be used to determine the first torque distribution correction amount during the vehicle's current driving. This preset correspondence can be expressed as a functional relationship or in tabular form. Specific functional relationships and tables can be obtained from a large amount of experimental data, and this application does not limit the specific examples.
[0069] Optionally, a two-dimensional calibration table can be created, with the horizontal axis representing the rolling radius deviation and the vertical axis representing the rolling resistance coefficient deviation. The output is the first torque distribution correction amount. This allows for the real-time calculation of the first torque distribution correction amount that needs to be adjusted, based on the rolling radius deviation and rolling resistance coefficient deviation calculated during the vehicle's current driving process. This two-dimensional calibration table can be obtained through actual calibration tests.
[0070] Optionally, a preset correspondence can be established between the rolling radius deviation, the original output torque of the target motor, and the second torque distribution correction amount. This preset correspondence can be used to determine the second torque distribution correction amount when the vehicle is currently in motion. This preset correspondence can be expressed as a functional relationship or in tabular form. Specific functional relationships and tables can be obtained from a large amount of experimental data, and this application does not limit the specific examples.
[0071] Optionally, a two-dimensional calibration table can be created, with the horizontal axis representing the rolling radius deviation and the vertical axis representing the original output torque of the motor. The output is the second torque distribution correction amount. This allows for the real-time calculation of the second torque distribution correction amount that needs to be adjusted, by combining the original output torque of the motor during the vehicle's current driving process with the calculated rolling radius deviation. This two-dimensional calibration table can be obtained through actual calibration tests.
[0072] After calculating the first torque distribution correction and the second torque distribution correction, the control system can adjust the original output torque of the target motor based on these corrections. Thus, by adjusting the first and second torque distribution corrections, the vehicle can maintain straight-line driving even under different tire pressure deviations.
[0073] In one embodiment, the control system can determine a total correction amount based on the sum of a first torque distribution correction amount and a second torque distribution correction amount; then, based on the difference between the original output torque of the target motor and the total correction amount, it can determine the adjusted target output torque of the target motor. Thus, the target motor is driven with the target output torque. This allows for the adjustment of motor torque to take into account torque adjustment requirements under different tire pressure deviations.
[0074] In one embodiment, the control system may first determine the adjusted target output torque of the target motor based on the difference between the original output torque of the target motor and a first torque distribution correction (or a second torque distribution correction), to initially adjust the torque distribution. Then, based on the difference between the initially adjusted target output torque and the second torque distribution correction (or the first torque distribution correction), the adjusted target output torque of the target motor is determined again to further adjust the torque distribution. In this way, the motor torque is adjusted gradually in stages to achieve a smooth adjustment effect and avoid adjusting too much at once, which would affect the driving experience.
[0075] In one embodiment, when the rolling radius deviation is detected to be greater than a preset threshold, the control system may use the aforementioned method to adjust the torque distribution of the left and right tires on the same axle, that is, adjust the torque distribution of the left and right tires on the same axle based on the aforementioned rolling radius deviation.
[0076] It is understandable that the rolling radius deviation can reflect the tire pressure imbalance of a vehicle. When the rolling radius deviation is greater than a preset threshold, it indicates that the vehicle has a tire pressure imbalance. In order to correct the yaw motion of the vehicle caused by the tire pressure imbalance, the torque distribution adjustment function can be activated. That is, the torque distribution method provided in this application embodiment can be used to adjust the torque distribution of the vehicle. The preset threshold can be reasonably set according to the actual situation and is not limited here.
[0077] In this way, it is possible to automatically detect and correct tire pressure imbalances.
[0078] The torque distribution device provided in this application is described below. The torque distribution device described below can be referred to in correspondence with the torque distribution method described above.
[0079] Figure 2 This is a schematic diagram of the torque distribution device provided in an embodiment of this application. (Refer to...) Figure 2 The torque distribution device provided in this application embodiment may include:
[0080] The acquisition module 210 is used to acquire tire status data during vehicle operation;
[0081] The determination module 220 is used to determine the rolling radius deviation of the left and right tires on the same axle based on the tire condition data.
[0082] The adjustment module 230 is used to adjust the torque distribution corresponding to the left and right tires based on the rolling radius deviation.
[0083] The torque distribution device provided in this application obtains tire state data during vehicle operation to determine the rolling radius deviation of the left and right tires on the same axle of the vehicle. Based on this rolling radius deviation, the torque distribution corresponding to the left and right tires on the same axle of the vehicle is adjusted. Thus, even if the vehicle experiences tire pressure imbalance (such as a tire blowout), the vehicle's yaw motion can be corrected in time to avoid fishtailing.
[0084] Specifically, the torque distribution device provided in this application embodiment can implement all the method steps implemented in the above method embodiment and can achieve the same technical effect. Here, the parts that are the same as those in the method embodiment and the beneficial effects will not be described in detail.
[0085] Figure 3 This is a schematic diagram of the structure of the electronic device provided in an embodiment of this application. For example... Figure 3 As shown, the electronic device may include: a processor 310, a communication interface 320, a memory 330, and a communication bus 340, wherein the processor 310, the communication interface 320, and the memory 330 communicate with each other via the communication bus 340. The processor 310 can call logical instructions in the memory 330 to execute torque distribution methods, such as:
[0086] Acquire tire status data during vehicle operation;
[0087] Based on the tire condition data, the rolling radius deviation of the left and right tires on the same axle is determined;
[0088] Based on the rolling radius deviation, the torque distribution corresponding to the left and right tires is adjusted.
[0089] Furthermore, the logical instructions in the aforementioned memory 330 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0090] On the other hand, this application also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the torque distribution methods provided by the above methods, including, for example:
[0091] Acquire tire status data during vehicle operation;
[0092] Based on the tire condition data, the rolling radius deviation of the left and right tires on the same axle is determined;
[0093] Based on the rolling radius deviation, the torque distribution corresponding to the left and right tires is adjusted.
[0094] Furthermore, this application also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer is able to perform the steps of the torque distribution method provided by the above methods, for example including:
[0095] Acquire tire status data during vehicle operation;
[0096] Based on the tire condition data, the rolling radius deviation of the left and right tires on the same axle is determined;
[0097] Based on the rolling radius deviation, the torque distribution corresponding to the left and right tires is adjusted.
[0098] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.
[0099] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.
[0100] It should also be noted that the terms "first," "second," etc., used in the embodiments of this application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same class, and the number of objects is not limited. For example, the first object can be one or more.
[0101] In the embodiments of this application, the term "and / or" describes the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following associated objects have an "or" relationship.
[0102] In this application's embodiments, "determine B based on A" means that factor A must be considered when determining B. It is not limited to "B can be determined based solely on A," but should also include: "determine B based on A and C," "determine B based on A, C, and E," "determine C based on A, and further determine B based on C," etc. Additionally, it can include using A as a condition for determining B, for example, "when A meets the first condition, determine B using the first method"; another example, "when A meets the second condition, determine B," etc.; another example, "when A meets the third condition, determine B based on the first parameter," etc. Of course, it can also be a condition where A is a factor in determining B, for example, "when A meets the first condition, determine C using the first method, and further determine B based on C," etc.
[0103] In the embodiments of this application, the term "multiple" refers to two or more, and other quantifiers are similar.
[0104] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.
Claims
1. A torque distribution method, characterized in that, include: Acquire tire status data during vehicle operation; Based on the tire condition data, the rolling radius deviation of the left and right tires on the same axle is determined; Based on the rolling radius deviation, the torque distribution corresponding to the left and right tires is adjusted.
2. The torque distribution method according to claim 1, characterized in that, The tire condition data includes tire pressure and tire load. Determining the rolling radius deviation of the left and right tires on the same axle based on the tire condition data includes: The rolling radius of the left and right tires is determined based on the tire pressure and tire load of the coaxial left and right tires. The rolling radius deviation of the left and right tires is determined based on the difference between their rolling radii.
3. The torque distribution method according to claim 2, characterized in that, The adjustment of the torque distribution corresponding to the left and right tires based on the rolling radius deviation includes: Determine the target motor corresponding to the tire with the largest rolling radius among the left and right tires; Based on the rolling radius deviation, the original output torque of the target motor is adjusted.
4. The torque distribution method according to claim 3, characterized in that, The adjustment of the original output torque of the target motor based on the rolling radius deviation includes: Based on the vehicle speed and the tire pressure of the left and right tires, the rolling resistance coefficient of the left and right tires is determined. The deviation of the rolling resistance coefficients of the left and right tires is determined based on the difference between the rolling resistance coefficients of the left and right tires. Based on the rolling resistance coefficient deviation and the rolling radius deviation, a first torque distribution correction amount is determined; Based on the original output torque of the target motor and the rolling radius deviation, a second torque distribution correction amount is determined; The original output torque of the target motor is adjusted based on the first torque distribution correction amount and the second torque distribution correction amount.
5. The torque distribution method according to claim 4, characterized in that, The adjustment of the original output torque of the target motor based on the first torque distribution correction amount and the second torque distribution correction amount includes: The total correction amount is determined based on the sum of the first torque distribution correction amount and the second torque distribution correction amount; The adjusted target output torque of the target motor is determined based on the difference between the original output torque of the target motor and the total correction amount.
6. The torque distribution method according to any one of claims 1-5, characterized in that, The adjustment of the torque distribution corresponding to the left and right tires based on the rolling radius deviation includes: When the rolling radius deviation is detected to be greater than a preset threshold, the torque distribution corresponding to the left and right tires is adjusted based on the rolling radius deviation.
7. A torque distribution device, characterized in that, include: The acquisition module is used to acquire tire status data during vehicle operation; The determination module is used to determine the rolling radius deviation of the left and right tires on the same axle based on the tire condition data; The adjustment module is used to adjust the torque distribution corresponding to the left and right tires based on the rolling radius deviation.
8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the torque distribution method as described in any one of claims 1 to 6.
9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the torque distribution method as described in any one of claims 1 to 6.
10. A computer program product comprising a computer program that, when executed by a processor, implements the torque distribution method as described in any one of claims 1 to 6.