Torque distribution method and device
By acquiring the vehicle's driving parameters and lateral stiffness, an adhesion rate optimization model is established. Torque planning is performed based on constraints, which solves the accuracy problem of torque distribution in new energy vehicles, avoids wheel slippage and vehicle loss of control, and improves vehicle stability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- AVATR CO LTD
- Filing Date
- 2026-02-12
- Publication Date
- 2026-04-14
AI Technical Summary
In existing technologies, new energy vehicles are prone to wheel slippage or loss of vehicle control during torque distribution, resulting in insufficient accuracy in torque distribution.
By acquiring the target vehicle's driving parameters, vehicle lateral stiffness, and wheel relative position information, a vehicle adhesion rate optimization model is established. Based on the target constraints, torque planning is performed to determine the tire longitudinal torque at the minimum vehicle adhesion rate value, thereby allocating torque.
It improves the accuracy of torque distribution, avoids wheel slippage and vehicle loss of control, and enhances vehicle stability.
Smart Images
Figure CN121848945A_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] New energy vehicles are based on distributed motor drive systems, which include wheel-side motors and hub motors. Because distributed motor drive technology can independently control wheel torque, it has enormous potential in terms of vehicle driving efficiency and stability control, and is considered the future drive system for electric vehicles.
[0003] In related technologies, for new energy vehicles with a three-electric-system structure, torque distribution typically considers efficiency factors. First, torque distribution between the front and rear axles is performed based on the front and rear axle motor efficiency MAPs. Then, the yaw torque demand from torque vector control is superimposed on the rear axle. As a result, when the vehicle's tires reach their traction limit, wheel slippage or loss of vehicle control can easily occur, reducing the accuracy of torque distribution. Summary of the Invention
[0004] This application provides a torque distribution method and apparatus that can improve the accuracy of torque distribution.
[0005] This application provides a torque distribution method, the method comprising: The driving parameters, lateral stiffness, and wheel relative position information of the target vehicle are obtained during its operation; the target vehicle is a three-motor vehicle. An optimization model for vehicle adhesion rate during target vehicle driving is established based on the driving parameters and the vehicle lateral stiffness. The target constraints for the target vehicle during driving are determined based on the driving parameters and the wheel relative position information. Based on the target constraints, torque planning is performed on the vehicle adhesion rate optimization model to obtain the longitudinal torque of multiple tires when the vehicle adhesion rate value is minimized. Based on the longitudinal torque of the multiple tires, multiple torques to be allocated corresponding to the multiple motors of the target vehicle are determined.
[0006] This application provides a torque distribution device, including: The acquisition unit is used to acquire the driving parameters, vehicle lateral stiffness, and wheel relative position information of the target vehicle during driving; the target vehicle is a three-motor vehicle. A modeling unit is established to create a vehicle adhesion rate optimization model for the target vehicle during driving based on the driving parameters and the vehicle lateral stiffness. The determining unit is used to determine the target constraint conditions when the target vehicle is driving based on the driving parameters and the wheel relative position information; and to determine multiple torques to be allocated corresponding to multiple motors of the target vehicle based on multiple tire longitudinal torques. The processing unit is used to perform torque planning processing on the vehicle adhesion rate optimization model based on the target constraint conditions, so as to obtain the longitudinal torque of the multiple tires when the vehicle adhesion rate value is minimized.
[0007] This application provides an electronic device, the electronic device comprising: Memory is used to store executable instructions or computer programs. When the processor executes computer-executable instructions or computer programs stored in the memory, it implements the torque distribution method provided in the embodiments of this application.
[0008] This application provides a computer-readable storage medium storing a computer program or computer-executable instructions for implementing the torque distribution method provided in this application when executed by a processor.
[0009] This application provides a computer program product, including a computer program or computer executable instructions, which, when executed by a processor, implements the torque distribution method provided in this application.
[0010] The embodiments of this application have the following beneficial effects: The torque distribution device acquires the driving parameters, vehicle lateral stiffness, and relative wheel position information of the target vehicle during driving, thereby establishing a vehicle adhesion rate optimization model based on the driving parameters and vehicle lateral stiffness, and determining the target constraint conditions based on the driving parameters and relative wheel position information. Based on the target constraint conditions, torque planning processing is performed on the vehicle adhesion rate optimization model to obtain the longitudinal torque of multiple tires when the vehicle adhesion rate value is minimized. That is, the longitudinal torque of each tire when the vehicle tires reach the adhesion rate limit is determined. Thus, based on the longitudinal torque of multiple tires, the torque to be distributed for each tire in the target vehicle is finally determined, avoiding wheel slippage or vehicle loss of control when the vehicle tires reach the adhesion limit, and improving the accuracy of torque distribution. Attached Figure Description
[0011] Figure 1 This is a flowchart of a torque distribution method provided in an embodiment of this application; Figure 2 This is a schematic flowchart of an exemplary torque distribution method provided in an embodiment of this application; Figure 3 This is a schematic diagram of the composition structure of a torque distribution device provided in an embodiment of this application; Figure 4 This is a schematic diagram of the composition structure of an electronic device provided in an embodiment of this application.
[0012] It should be noted that the terms "first" and "second" mentioned above are only used to distinguish between different options and do not represent the degree of superiority or inferiority of the options or their priority in the implementation process. Detailed Implementation
[0013] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limitations on this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0014] This application provides a torque distribution method, which is applied to a torque distribution device. Figure 1 A flowchart of a torque distribution method provided in an embodiment of this application is shown below. Figure 1 As shown, the torque distribution method may include: S101. Obtain the driving parameters, vehicle lateral stiffness, and wheel relative position information of the target vehicle during driving.
[0015] The torque distribution method provided in this application embodiment is applicable to scenarios where the torque of a target vehicle is distributed during driving.
[0016] In the embodiments of this application, the torque distribution device can be implemented in various forms. For example, the torque distribution device described in this application may include devices such as servers, cloud, and controllers, or other devices. The specific embodiments of this application are not limited in this regard.
[0017] In this application embodiment, the target vehicle can be a sedan, SUV, sports car, van, bus, or other type of vehicle. The specific category of the target vehicle can be determined according to the actual situation, and this application embodiment does not limit it.
[0018] In this embodiment of the application, the target vehicle may be traveling on a curved road, a straight road, or other roads. The specific road on which the target vehicle travels can be determined according to the actual situation, and this embodiment of the application does not limit it.
[0019] For example, the target vehicle can drive on roads with low road surface adhesion coefficients, such as slippery roads in rainy or snowy weather.
[0020] It should be noted that the target vehicle is a three-motor vehicle. Specifically, the target vehicle can be a distributed three-motor type vehicle. For example, one motor in the target vehicle controls the driving force of the two front wheels, another motor controls the driving force of the left rear wheel, and the last motor controls the driving force of the right rear wheel. Alternatively, one motor can control the driving force of the two rear wheels, another motor can control the driving force of the left front wheel, and the last motor can control the driving force of the right front wheel. The specific way in which the three motors provide driving force to the wheels in the target vehicle can be determined according to the actual situation, and this application embodiment does not limit this.
[0021] In this embodiment, the vehicle lateral stiffness information and wheel relative position information of the target vehicle can be obtained from the database, or from the cloud, or through other means. The specific method of obtaining the vehicle lateral stiffness information and wheel relative position information of the target vehicle can be determined according to the actual situation, and this embodiment does not limit it.
[0022] It should be noted that vehicle lateral stiffness includes the wheel lateral stiffness of each wheel in the target vehicle. Wheel relative position information includes the distance between each rear wheel of the target vehicle and the center of the rear axle. For example, if the target vehicle is a four-wheeled vehicle, then the vehicle lateral stiffness includes the left front wheel lateral stiffness, the right front wheel lateral stiffness, the left rear wheel lateral stiffness, and the right rear wheel lateral stiffness.
[0023] In this embodiment, the driving parameters of the target vehicle can be collected by sensors installed on the target vehicle; alternatively, the driving parameters of the target vehicle can be collected by other vehicles; or the driving parameters of the target vehicle can be obtained through other means. The specific method of obtaining the driving parameters of the target vehicle can be determined according to the actual situation, and this embodiment does not limit it.
[0024] It should be noted that the driving parameters include the coefficient of friction of the wheels, lateral torque, vertical torque, additional yaw moment of the target vehicle at the current moment, and the opening of the accelerator pedal and brake pedal of the target vehicle at the current moment. The specific driving parameters can be determined according to the actual situation, and this application embodiment does not limit them.
[0025] S102. Establish an optimization model for vehicle adhesion rate when the target vehicle is in motion based on driving parameters and vehicle lateral stiffness.
[0026] In this embodiment, after the torque distribution device obtains the driving parameters and vehicle lateral stiffness of the target vehicle, it can establish an optimization model of the vehicle adhesion rate of the target vehicle based on the driving parameters and vehicle lateral stiffness.
[0027] In this embodiment, the initial model parameters of the initial adhesion rate model can be adjusted based on driving parameters and vehicle lateral stiffness to obtain an optimized vehicle adhesion rate model; alternatively, other methods can be used to establish an optimized vehicle adhesion rate model for the target vehicle during driving based on driving parameters and vehicle lateral stiffness. The specific implementation method can be determined according to the actual situation, and this embodiment does not limit it.
[0028] In this embodiment of the application, the vehicle adhesion rate optimization model is a fusion of the wheel adhesion rate models of the four wheels controlled by the three motors in the target vehicle. That is, the vehicle adhesion rate optimization model includes the front wheel fusion adhesion rate model of the two front wheels of the target vehicle controlled by the first motor, the left rear wheel adhesion rate model of the left rear wheel of the target vehicle controlled by the second motor, and the right rear wheel adhesion rate model of the right rear wheel of the target vehicle controlled by the third motor.
[0029] It should be noted that the input to the vehicle adhesion rate optimization model includes the range of longitudinal torque values for multiple tires in the target vehicle, and the output of the vehicle adhesion rate optimization model is the range of vehicle adhesion rate values.
[0030] S103. Determine the target constraints when the target vehicle is in motion based on driving parameters and wheel relative position information.
[0031] In this embodiment, after the torque distribution device obtains the driving parameters and wheel relative position information of the target vehicle, it can determine the target constraint conditions of the target vehicle based on the driving parameters and wheel relative position information.
[0032] It should be noted that the torque distribution device can first establish a vehicle adhesion rate optimization model based on driving parameters and vehicle lateral stiffness, and then determine the target constraint conditions based on driving parameters and wheel relative position information; alternatively, it can first determine the target constraint conditions based on driving parameters and wheel relative position information, and then establish a vehicle adhesion rate optimization model based on driving parameters and vehicle lateral stiffness; or it can simultaneously establish a vehicle adhesion rate optimization model based on driving parameters and vehicle lateral stiffness, and simultaneously determine the target constraint conditions based on driving parameters and wheel relative position information. The specific determination can be made according to the actual situation, and this application embodiment does not limit this.
[0033] In the embodiments of this application, the number of target constraints can be one or more, and the specific number of target constraints can be determined according to the actual situation. This application does not limit this.
[0034] It should be noted that there can be three target constraints, including longitudinal driving force constraints, additional yaw moment constraints, and tire friction circle constraints.
[0035] It should also be noted that if there are more than three target constraints, the target constraints may include longitudinal driving force constraints, additional yaw moment constraints, and tire friction circle constraints, etc. The specific target constraints can be determined according to the actual situation, and this application embodiment does not limit this.
[0036] In this embodiment, the target constraint conditions can be determined based on parameters such as the accelerator pedal opening, brake pedal opening, additional yaw moment of the target vehicle at the current moment, the distance between the rear wheel of the target vehicle and the center of the rear axle of the target vehicle, and the wheel adhesion coefficients (including the front wheel fusion adhesion coefficient, the left rear wheel adhesion coefficient, and the right rear wheel adhesion coefficient) of the target vehicle when it is driving. Alternatively, the target constraint conditions can be determined in other ways. The specific method for determining the target constraint conditions when the target vehicle is driving can be determined according to the actual situation, and this embodiment does not limit this.
[0037] S104. Based on the target constraints, torque planning is performed on the vehicle adhesion rate optimization model to obtain the longitudinal torque of multiple tires when the vehicle adhesion rate value is minimized.
[0038] In this embodiment, after the torque distribution device determines the target constraints when the target vehicle is driving based on the driving parameters and the relative position information of the wheels, it performs torque planning processing on the vehicle adhesion rate optimization model based on the target constraints to obtain the longitudinal torque of multiple tires when the vehicle adhesion rate value is minimized.
[0039] In this embodiment of the application, the target constraint condition can be used to perform torque planning processing on the vehicle adhesion rate optimization model, thereby determining the longitudinal torque values of multiple tires when the vehicle adhesion rate value is minimized, that is, obtaining the longitudinal torque of multiple tires.
[0040] It should be noted that the vehicle adhesion rate is the sum of the adhesion rates of multiple wheels in the target vehicle.
[0041] It should be noted that the multiple tire longitudinal torques include the front wheel combined longitudinal torque, the left rear wheel longitudinal torque, and the right rear wheel longitudinal torque of the target vehicle. Specifically, the target vehicle has two front wheels, and the front wheel combined longitudinal torque is the sum of the left front wheel longitudinal torque and the right front wheel longitudinal torque.
[0042] For example, based on the target constraints, torque planning is performed on the vehicle adhesion rate optimization model to obtain the longitudinal torque of multiple tires when the vehicle adhesion rate is minimized, as shown in formula (1): (1) In formula (1), the first row of the formula represents the vehicle adhesion rate optimization model, and in formula (1) This indicates that the vehicle's adhesion rate value is the lowest. This indicates the lateral stiffness of the left front wheel of the target vehicle. This indicates the lateral stiffness of the right front wheel of the target vehicle. This indicates the lateral stiffness of the left rear wheel of the target vehicle. This indicates the right rear wheel lateral stiffness of the target vehicle. This represents the front wheel fusion adhesion coefficient of the target vehicle. This indicates the coefficient of friction of the left rear wheel of the target vehicle. This indicates the coefficient of friction of the right rear wheel of the target vehicle. This indicates the front wheel combined longitudinal torque of the target vehicle. This indicates the longitudinal torque of the left rear wheel of the target vehicle. This indicates the longitudinal torque of the right rear wheel of the target vehicle. This indicates the combined lateral torque of the front wheels of the target vehicle. This indicates the lateral torque of the left rear wheel of the target vehicle. This indicates the lateral torque of the right rear wheel of the target vehicle. This indicates the combined vertical torque of the front wheels of the target vehicle; This indicates the vertical torque of the target vehicle's left rear wheel. This indicates the vertical torque of the right rear wheel of the target vehicle.
[0043] In formula (1), the second to fourth lines represent the target constraint conditions: specifically, the second line represents the longitudinal driving force constraint condition, the third line represents the additional yaw moment constraint condition, and the fourth line represents the tire friction circle constraint condition. Indicates vehicle torque. Indicates the additional yaw moment. This indicates the distance between the right rear wheel of the target vehicle and the center of the rear axle of the target vehicle. This indicates the distance between the left rear wheel of the target vehicle and the center of the rear axle of the target vehicle. This indicates the longitudinal torque of multiple tires. Indicates the coefficient of friction of the wheel. Indicates the vertical torque of the wheel. This indicates the lateral torque of the wheel.
[0044] S105. Based on the longitudinal torque of multiple tires, determine the multiple torques to be allocated corresponding to the multiple motors of the target vehicle.
[0045] In this embodiment, the torque distribution device performs torque planning processing on the vehicle adhesion rate optimization model based on the target constraint conditions, and obtains multiple tire longitudinal torques when the vehicle adhesion rate value is at its minimum. Then, based on the multiple tire longitudinal torques, it determines multiple torques to be distributed corresponding to multiple motors of the target vehicle.
[0046] In the embodiments of this application, multiple motors correspond one-to-one with multiple torques to be allocated, that is, one motor corresponds to one torque to be allocated.
[0047] It should be noted that once multiple torques to be allocated are determined, multiple motors can be controlled based on these multiple torques.
[0048] In this embodiment of the application, the process of determining multiple torques to be allocated corresponding to multiple motors of a target vehicle based on multiple tire longitudinal torques includes: obtaining multiple tire radii of multiple tires in the target vehicle; and determining multiple torques to be allocated based on the multiple tire longitudinal torques and the multiple tire radii.
[0049] It should be noted that there is a one-to-one correspondence between multiple tires and multiple tire radii, that is, one tire corresponds to one tire radius.
[0050] It should also be noted that the radius values of multiple tires may be the same, or the radius values of multiple tires may be partially the same. The specific values can be determined according to the actual situation, and this application does not limit this.
[0051] For example, if the target vehicle is a four-wheeled vehicle and the radius values of multiple tires are all the same, then the radius values of all four tires of the target vehicle are the same, such as 0.5 meters (the specific radius value can also be other values, and the specific radius value can be determined according to the actual situation; this application embodiment does not limit this). If the target vehicle is a four-wheeled vehicle and the radius values of multiple tires are partially the same, then the radius values of the left front tire and the right front tire of the target vehicle are the same, such as 0.5 meters (the specific radius value can also be other values, and the specific radius value can be determined according to the actual situation; this application embodiment does not limit this), and the radius values of the left rear tire and the right rear tire of the target vehicle are the same, such as 0.8 meters (the specific radius value can also be other values, and the specific radius value can be determined according to the actual situation; this application embodiment does not limit this).
[0052] In this embodiment of the application, the multiple tire radii of multiple tires in the target vehicle can be obtained from a database, from other devices, or through other means. The specific method of obtaining the multiple tire radii of multiple tires in the target vehicle can be determined according to the actual situation, and this embodiment of the application does not limit it.
[0053] In this embodiment of the application, the method of determining multiple torques to be allocated based on multiple tire longitudinal torques and multiple tire radii includes determining the tire longitudinal torque and tire radius corresponding to each tire, determining the product of the tire longitudinal torque and tire radius, and obtaining the torque to be allocated for the motor controlling the tire.
[0054] For example, if the target vehicle is a four-wheeled vehicle controlled by three motors, then as shown in formula (2): the determined front wheel fusion longitudinal torque can be used as a reference. ) and the radius of the front tires ( The product of ) yields the first torque to be distributed by the motor controlling the front wheels. As shown in formula (3): the longitudinal torque of the left rear wheel can be determined ( ) and the tire radius of the left rear wheel ( The product of ) yields the second torque to be distributed by the motor controlling the left rear wheel. As shown in formula (4): the determined longitudinal torque of the right rear wheel ( ) and the tire radius of the right rear wheel ( The product of ) yields the third torque to be distributed for the motor controlling the right rear wheel. The first torque to be allocated, the second torque to be allocated, and the third torque to be allocated are treated as multiple torques to be allocated.
[0055] (2) (3) (4) Understandably, the torque distribution device acquires the target vehicle's driving parameters, lateral stiffness, and wheel relative position information. Based on these parameters, it establishes a vehicle adhesion rate optimization model and determines the target constraints. Then, based on these constraints, it performs torque planning on the adhesion rate optimization model to obtain the longitudinal torques of multiple tires at the minimum adhesion rate. This determines the longitudinal torque of each tire when the vehicle's tires reach their adhesion rate limit. Finally, based on these longitudinal torques, the device determines the torque to be distributed to each tire in the target vehicle, preventing wheel slippage or vehicle loss of control when the tires reach their adhesion limit, thus improving the accuracy of torque distribution.
[0056] The following is a detailed explanation of the method used in step S101 to establish the vehicle adhesion rate optimization model for the target vehicle during driving based on driving parameters and vehicle lateral stiffness: Specifically, the process by which the torque distribution device establishes an optimized model of the vehicle adhesion rate when the target vehicle is in motion based on driving parameters and vehicle lateral stiffness includes: obtaining an initial adhesion rate model; adjusting the initial model parameters of the initial adhesion rate model according to the vehicle lateral stiffness and driving parameters to obtain an optimized model of the vehicle adhesion rate.
[0057] In this embodiment, the initial adhesion rate model can be obtained from the configured information, from other devices, or through other means. The specific method of obtaining the initial adhesion rate model can be determined according to the actual situation, and this embodiment does not limit it.
[0058] In this embodiment, the vehicle lateral stiffness and driving parameters can be used as the initial model parameters of the initial adhesion rate model to obtain the vehicle adhesion rate optimization model. Alternatively, the initial model parameters of the initial adhesion rate model can be adjusted according to the vehicle lateral stiffness and driving parameters in other ways to obtain the vehicle adhesion rate optimization model. The specific implementation method can be determined according to the actual situation, and this embodiment does not limit it.
[0059] It should be noted that the front wheel fusion driving parameters include: front wheel fusion adhesion coefficient, front wheel fusion lateral torque, and front wheel fusion vertical torque; the left rear wheel driving parameters include: left rear wheel vertical torque, left rear wheel adhesion coefficient, and left rear wheel lateral torque; and the right rear wheel driving parameters include: right rear wheel vertical torque, right rear wheel adhesion coefficient, and right rear wheel lateral torque. The specific front wheel fusion driving parameters, left rear wheel driving parameters, and right rear wheel driving parameters can be determined according to the actual situation, and this application embodiment does not limit them.
[0060] In this embodiment, if the target vehicle includes two front wheels, the front wheel fusion adhesion coefficient can be the fusion adhesion coefficient of the left front wheel or the fusion adhesion coefficient of the right front wheel. Alternatively, it can be an adhesion coefficient determined based on the fusion adhesion coefficients of the left and right front wheels, such as by averaging the fusion adhesion coefficients of the left and right front wheels. Specifically, the method for determining the front wheel fusion adhesion coefficient can be determined according to the actual situation, and this embodiment does not limit this method.
[0061] In this embodiment, if the target vehicle includes two front wheels, the front wheel lateral torque can be the left front wheel lateral torque or the right front wheel lateral torque of the target vehicle. Alternatively, it can be a lateral torque determined based on the left and right front wheel lateral torques, such as by determining the average of the left and right front wheel lateral torques to obtain the front wheel lateral torque of the target vehicle. The specific method for determining the front wheel lateral torque of the target vehicle can be determined according to the actual situation, and this embodiment does not limit this method.
[0062] In this embodiment, if the target vehicle includes two front wheels, the front wheel fusion vertical torque can be the vertical torque of the left front wheel or the vertical torque of the right front wheel, or it can be a vertical torque determined based on the vertical torques of the left and right front wheels. For example, the average of the left and right front wheel vertical torques can be used to obtain the front wheel fusion vertical torque of the target vehicle. The specific method for determining the front wheel fusion vertical torque of the target vehicle can be determined according to the actual situation, and this embodiment does not limit it.
[0063] In this embodiment, the initial adhesion rate model can be information configured in the torque distribution device, information transmitted to the torque distribution device from other devices, or information obtained by the torque distribution device through other means. The specific method of obtaining the initial adhesion rate model can be determined according to the actual situation, and this embodiment does not limit it.
[0064] In this embodiment, the vehicle lateral stiffness includes the left front wheel lateral stiffness, right front wheel lateral stiffness, left rear wheel lateral stiffness, and right rear wheel lateral stiffness; the driving parameters include front wheel fusion driving parameters, left rear wheel driving parameters, and right rear wheel driving parameters; the process by which the torque distribution device adjusts the initial model parameters of the initial adhesion rate model according to the vehicle lateral stiffness and driving parameters to obtain the vehicle adhesion rate optimization model includes: adjusting the initial model parameters of the initial adhesion rate model according to the left front wheel lateral stiffness, right front wheel lateral stiffness, and front wheel fusion driving parameters to obtain the front wheel fusion adhesion rate model; adjusting the initial model parameters of the initial adhesion rate model according to the left rear wheel lateral stiffness and left rear wheel driving parameters to obtain the left rear wheel adhesion rate model; adjusting the initial model parameters of the initial adhesion rate model according to the right rear wheel lateral stiffness and right rear wheel driving parameters to obtain the right rear wheel adhesion rate model; and fusing the front wheel fusion adhesion rate model, left rear wheel adhesion rate model, and right rear wheel adhesion rate model to obtain the vehicle adhesion rate optimization model.
[0065] In this embodiment, the front wheel fusion driving parameters include: front wheel fusion adhesion coefficient, front wheel fusion lateral torque, and front wheel fusion vertical torque; the left rear wheel driving parameters include: left rear wheel vertical torque, left rear wheel adhesion coefficient, and left rear wheel lateral torque; and the right rear wheel driving parameters include: right rear wheel vertical torque, right rear wheel adhesion coefficient, and right rear wheel lateral torque.
[0066] In this embodiment of the application, based on the left front wheel lateral stiffness ( ), right front wheel lateral stiffness ( ) and front wheel fusion driving parameters (front wheel fusion adhesion coefficient (including left front wheel adhesion coefficient ( ) and the coefficient of adhesion of the right front wheel ( ), front wheel lateral torque (including left front wheel lateral torque ()), ) and right front wheel lateral torque ( ), front wheel fusion vertical torque (left front wheel vertical torque ( ) and right front wheel vertical torque ( The process of adjusting the initial model parameters of the initial adhesion rate model to obtain the front wheel fusion adhesion rate model is shown in formula (5): (5) It should be noted that, This refers to the longitudinal torque of the left front wheel. This refers to the longitudinal torque of the right front wheel. This represents the front wheel adhesion rate value of the target vehicle. and As input to the front wheel fusion adhesion rate model, This is the output of the front wheel fusion adhesion rate model.
[0067] In this embodiment of the application, based on the left rear wheel lateral stiffness ( ) and left rear wheel driving parameters (including left rear wheel vertical torque ( ), left rear wheel adhesion coefficient ( ), left rear wheel lateral torque ( The process of adjusting the initial model parameters of the initial adhesion rate model to obtain the adhesion rate model of the left rear wheel is shown in formula (6): (6) It should be noted that, This refers to the longitudinal torque of the left rear wheel. This represents the adhesion rate value of the left rear wheel of the target vehicle. Among them, As input to the left rear wheel adhesion rate model, This is the output of the left rear wheel adhesion rate model.
[0068] In this embodiment of the application, based on the right rear wheel lateral stiffness ( ) and right rear wheel driving parameters (including right rear wheel vertical torque ( ), right rear wheel adhesion coefficient ( ), right rear wheel lateral torque ( The process of adjusting the initial model parameters of the initial adhesion rate model to obtain the right rear wheel adhesion rate model is shown in formula (7): (7) It should be noted that, This refers to the longitudinal torque of the right rear wheel. This represents the adhesion rate value of the right rear wheel of the target vehicle. Among them, This is the input for the right rear wheel adhesion rate model. This is the output of the right rear wheel adhesion rate model.
[0069] In this embodiment of the application, by combining formulas (5)-(7), formula (8) can be obtained: (8) It should be noted that, That is , , The sum of, for That is, taking the minimum value is... .
[0070] In this embodiment of the application, when the two front wheels of the target vehicle are controlled by one motor, formula (5) can be combined to obtain formula (9): (9) By adjusting formula (8) according to formula (9), the final vehicle adhesion rate optimization model can be obtained as shown in formula (10): (10) The following is a detailed explanation of the method for determining the target constraint conditions for the target vehicle's movement based on driving parameters and wheel relative position information in step S102: Specifically, the process by which the torque distribution device determines the target constraint conditions for the target vehicle's movement based on driving parameters and wheel relative position information includes: determining the longitudinal driving force constraint conditions for the target vehicle's movement based on driving parameters; determining the additional yaw moment constraint conditions for the target vehicle's movement based on driving parameters and wheel relative position information; determining the tire friction circle constraint conditions for the target vehicle's movement based on driving parameters; and determining the longitudinal driving force constraint conditions, the additional yaw moment constraint conditions, and the tire friction circle constraint conditions as the target constraint conditions.
[0071] It should be noted that the target constraints include longitudinal driving force constraints, additional yaw moment constraints, and tire friction circle constraints.
[0072] In this embodiment of the application, the driving parameters include the accelerator pedal opening and brake pedal opening of the target vehicle at the current moment; the process by which the torque distribution device determines the longitudinal driving force constraint conditions of the target vehicle based on the driving parameters includes: determining the vehicle torque of the target vehicle based on the accelerator pedal opening and brake pedal opening; and determining the longitudinal driving force constraint conditions based on the vehicle torque.
[0073] In this embodiment of the application, the driving parameters include the accelerator pedal opening and the brake pedal opening. The specific accelerator pedal opening and brake pedal opening are information collected by sensors on the target vehicle. Alternatively, the accelerator pedal opening and brake pedal opening of the target vehicle at the current moment can be determined by other means. The specific method of obtaining the accelerator pedal opening and brake pedal opening in the driving parameters can be determined according to the actual situation. This embodiment of the application does not limit this.
[0074] In this embodiment, the accelerator pedal opening and brake pedal opening can be input into the model to determine the vehicle torque; alternatively, the vehicle torque corresponding to the accelerator pedal opening and brake pedal opening can be determined by looking up a table; other methods can also be used to determine the vehicle torque of the target vehicle based on the accelerator pedal opening and brake pedal opening of the target vehicle at the current moment; the specific implementation method can be determined according to the actual situation, and this embodiment does not limit it.
[0075] It should be noted that the model can be a network model, a model trained by the torque distribution device, or a model obtained by the torque distribution device through other means. The specific model can be determined according to the actual situation, and this application embodiment does not limit it.
[0076] In this embodiment of the application, the method for determining the longitudinal driving force constraint based on the vehicle torque can be to use the sum of the longitudinal torques of multiple tires as the vehicle torque.
[0077] For example, the multiple tire longitudinal torques include the front wheel fusion longitudinal torque, the left rear wheel longitudinal torque, and the right rear wheel longitudinal torque. As shown in formula (11): Front wheel fusion longitudinal torque ( ), left rear wheel longitudinal torque ( ) and right rear wheel longitudinal torque ( The sum of ) as vehicle torque ( ).
[0078] (11) In this embodiment of the application, the driving parameters include the additional yaw moment of the target vehicle at the current moment; the process by which the torque distribution device determines the additional yaw moment constraint conditions when the target vehicle is driving based on the driving parameters and the wheel relative position information includes: determining the additional yaw moment constraint conditions based on the additional yaw moment and at least one distance.
[0079] It should be noted that the wheel relative position information includes at least one distance, which is the distance between each rear wheel of the target vehicle and the center of the rear axle of the target vehicle.
[0080] In this embodiment of the application, the additional yaw moment in the driving parameters can be information obtained from the controller of the target vehicle, or the additional yaw moment of the target vehicle at the current moment can be obtained through other means. The specific method of obtaining the additional yaw moment of the target vehicle at the current moment can be determined according to the actual situation, and this embodiment of the application does not limit it.
[0081] In this application embodiment, at least one distance can be obtained from a database, from other devices, or determined using a sensor. The specific method of obtaining at least one distance can be determined according to the actual situation, and this application embodiment does not limit it.
[0082] It should be noted that if the target vehicle has two rear wheels and the distance between the two rear wheels and the center of the rear axle of the target vehicle is the same, then one distance can be obtained; if the target vehicle has two rear wheels and the distance between the two rear wheels and the center of the rear axle of the target vehicle is different, then two distances can be obtained, that is, at least one distance.
[0083] In this embodiment of the application, the additional yaw moment constraint condition is determined based on the additional yaw moment and at least one distance as shown in formula (12): (12) Specifically, the longitudinal torque of the right rear wheel can be determined ( ), the distance between the right rear wheel and the center of the rear axle of the target vehicle ( The first product between the left rear wheel torque (1 / 2) and the preset parameter (1 / 2) determines the longitudinal torque of the left rear wheel. ), the distance between the left rear wheel and the center of the rear axle of the target vehicle ( The difference between the first product and the second product is determined by multiplying the first product by the second product and the preset parameter (1 / 2), thus obtaining the additional yaw moment. ).
[0084] In this embodiment, the driving parameters include the front wheel fusion driving parameters, left rear wheel driving parameters, and right rear wheel driving parameters of the target vehicle. The process by which the torque distribution device determines the tire friction circle constraint conditions of the target vehicle based on the driving parameters includes: determining the front wheel friction circle constraint conditions of the target vehicle based on the front wheel fusion driving parameters; determining the left rear wheel friction circle constraint conditions of the target vehicle based on the left rear wheel driving parameters; determining the right rear wheel friction circle constraint conditions of the target vehicle based on the right rear wheel driving parameters; and determining the front wheel friction circle constraint conditions, left rear wheel friction circle constraint conditions, and right rear wheel friction circle constraint conditions as tire friction circle constraint conditions.
[0085] In this embodiment, the driving parameters include front wheel fusion driving parameters, left rear wheel driving parameters, and right rear wheel driving parameters. Specifically, the front wheel fusion driving parameters include: front wheel fusion adhesion coefficient, front wheel fusion lateral torque, and front wheel fusion vertical torque; the left rear wheel driving parameters include: left rear wheel vertical torque, left rear wheel adhesion coefficient, and left rear wheel lateral torque; and the right rear wheel driving parameters include: right rear wheel vertical torque, right rear wheel adhesion coefficient, and right rear wheel lateral torque. The front wheel fusion adhesion coefficient, left rear wheel adhesion coefficient, and right rear wheel adhesion coefficient of the target vehicle can be determined using sensors; they can also be estimated through vehicle operating environment or vehicle operating parameters; or they can be determined through other methods. The specific methods for obtaining the front wheel fusion adhesion coefficient, left rear wheel adhesion coefficient, and right rear wheel adhesion coefficient in the driving parameters can be determined according to actual conditions, and this embodiment does not limit this.
[0086] In this embodiment of the application, the process of determining the front wheel friction circle constraint condition of the target vehicle based on the front wheel fusion driving parameters is shown in the first row of formula (13): Determine the front wheel fusion adhesion coefficient of the target vehicle ( The square of ) and the combined vertical torque of the front wheels of the target vehicle ( The third product of the square of ) is used to determine the third product and the front wheel lateral torque of the target vehicle. The difference of the squares of the two parameters yields the first parameter, the front wheel fusion longitudinal torque. It is less than or equal to the first parameter under the square root.
[0087] In this embodiment of the application, the process of determining the friction circle constraint condition of the right rear wheel of the target vehicle when it is in motion based on the right rear wheel driving parameters is shown in the second row of formula (13): Determine the right rear wheel adhesion coefficient of the target vehicle ( The square of ) and the vertical torque of the right rear wheel of the target vehicle ( The fourth product of the square of ) is used to determine the relationship between this fourth product and the right rear wheel lateral torque of the target vehicle. The difference of the squares of the two parameters yields the second parameter, the longitudinal torque of the right rear wheel of the target vehicle. The value is less than or equal to the second parameter under the square root.
[0088] In this embodiment of the application, the process of determining the friction circle constraint condition of the left rear wheel of the target vehicle based on the driving parameters of the left rear wheel is shown in the third row of formula (13): Determine the adhesion coefficient of the left rear wheel of the target vehicle ( The square of ) and the vertical torque of the left rear wheel of the target vehicle ( The fifth product of the square of ) is used to determine the relationship between this fifth product and the left rear wheel lateral torque of the target vehicle. The difference of the squares of the values yields the third parameter, the longitudinal torque of the left rear wheel of the target vehicle. It is less than or equal to the third parameter under the square root.
[0089] (13) In this embodiment of the application, the tire friction circle constraint conditions include the front wheel friction circle constraint conditions, the left rear wheel friction circle constraint conditions, and the right rear wheel friction circle constraint conditions.
[0090] For example, such as Figure 2As shown: Obtain the additional yaw moment of the target vehicle at the current moment (obtain additional yaw moment), and the distance between each rear wheel of the target vehicle and the center of the rear axle of the target vehicle, obtaining at least one distance; based on the additional yaw moment and at least one distance, determine the additional yaw moment constraint condition. Based on the accelerator pedal opening and brake pedal opening of the target vehicle at the current moment, determine the vehicle torque of the target vehicle; based on the vehicle torque, determine the longitudinal driving force constraint condition. Determine the front wheel fusion driving parameters, left rear wheel driving parameters, and right rear wheel driving parameters of the target vehicle during driving; based on the front wheel fusion driving parameters, determine the front wheel friction circle constraint condition of the target vehicle during driving; based on the left rear wheel driving parameters, determine the left rear wheel friction circle constraint condition of the target vehicle during driving; based on the right rear wheel driving parameters, determine the right rear wheel friction circle constraint condition of the target vehicle during driving; determine the front wheel friction circle constraint condition, left rear wheel friction circle constraint condition, and right rear wheel friction circle constraint condition as tire friction circle constraint conditions. Determine the longitudinal driving force constraint condition, the additional yaw moment constraint condition, and the tire friction circle constraint condition as the target constraint condition. Obtain the driving parameters and lateral stiffness of the target vehicle during operation; establish a vehicle adhesion rate optimization model (based on the minimum vehicle adhesion rate function of the three motors) based on the driving parameters and lateral stiffness. Based on the target constraints, perform torque planning on the vehicle adhesion rate optimization model (solve the problem) to obtain the longitudinal torques of multiple tires at the minimum vehicle adhesion rate value; based on the longitudinal torques of multiple tires, determine the multiple torques to be allocated corresponding to the multiple motors of the target vehicle.
[0091] Based on the same inventive concept as the torque distribution method described above, this application provides a torque distribution device 1, corresponding to a torque distribution method; Figure 3 A schematic diagram of the composition structure of a torque distribution device provided in this application embodiment. Figure 1 The torque distribution device 1 may include: Acquisition unit 11 is used to acquire the driving parameters, vehicle lateral stiffness and wheel relative position information of the target vehicle when it is in motion; the target vehicle is a three-motor vehicle. Establishment unit 12 is used to establish a vehicle adhesion rate optimization model for the target vehicle when it is driving, based on the driving parameters and the vehicle lateral stiffness. The determining unit 13 is used to determine the target constraint conditions when the target vehicle is driving based on the driving parameters and the wheel relative position information; and to determine multiple torques to be allocated corresponding to multiple motors of the target vehicle based on multiple tire longitudinal torques. Processing unit 14 is used to perform torque planning processing on the vehicle adhesion rate optimization model based on the target constraint conditions, so as to obtain the longitudinal torque of the multiple tires when the vehicle adhesion rate value is minimized.
[0092] In some embodiments of this application, the device further includes an adjustment unit; The acquisition unit 11 is used to acquire the initial adhesion rate model; The adjustment unit is used to adjust the initial model parameters of the initial adhesion rate model according to the vehicle lateral stiffness and the driving parameters, so as to obtain the vehicle adhesion rate optimization model.
[0093] In some embodiments of this application, the vehicle lateral stiffness includes the left front wheel lateral stiffness, the right front wheel lateral stiffness, the left rear wheel lateral stiffness, and the right rear wheel lateral stiffness; the driving parameters include front wheel fusion driving parameters, left rear wheel driving parameters, and right rear wheel driving parameters; the device further includes a fusion unit; The adjustment unit is used to adjust the initial model parameters of the initial adhesion rate model according to the left front wheel lateral stiffness, the right front wheel lateral stiffness, and the front wheel fusion driving parameters to obtain a front wheel fusion adhesion rate model; adjust the initial model parameters of the initial adhesion rate model according to the left rear wheel lateral stiffness and the left rear wheel driving parameters to obtain a left rear wheel adhesion rate model; and adjust the initial model parameters of the initial adhesion rate model according to the right rear wheel lateral stiffness and the right rear wheel driving parameters to obtain a right rear wheel adhesion rate model. The fusion unit is used to fuse the front wheel fusion adhesion rate model, the left rear wheel adhesion rate model, and the right rear wheel adhesion rate model to obtain the vehicle adhesion rate optimization model.
[0094] In some embodiments of this application, the front wheel fusion driving parameters include: front wheel fusion adhesion coefficient, front wheel fusion lateral torque, and front wheel fusion vertical torque; The driving parameters of the left rear wheel include: left rear wheel vertical torque, left rear wheel adhesion coefficient, and left rear wheel lateral torque; The driving parameters of the right rear wheel include: right rear wheel vertical torque, right rear wheel adhesion coefficient, and right rear wheel lateral torque.
[0095] In some embodiments of this application, the determining unit 13 is configured to determine the longitudinal driving force constraint condition of the target vehicle when it is driving based on the driving parameters; determine the additional yaw moment constraint condition of the target vehicle when it is driving based on the driving parameters and the wheel relative position information; determine the tire friction circle constraint condition of the target vehicle when it is driving based on the driving parameters; and determine the longitudinal driving force constraint condition, the additional yaw moment constraint condition and the tire friction circle constraint condition as the target constraint condition.
[0096] In some embodiments of this application, the driving parameters include the accelerator pedal opening and brake pedal opening of the target vehicle at the current moment; The determining unit 13 is used to determine the vehicle torque of the target vehicle based on the accelerator pedal opening and the brake pedal opening; and to determine the longitudinal driving force constraint condition based on the vehicle torque.
[0097] In some embodiments of this application, the driving parameters include the additional yaw moment of the target vehicle at the current moment; The determining unit 13 is used to determine the additional yaw moment constraint condition based on the additional yaw moment and at least one distance; the wheel relative position information includes at least one distance, the at least one distance being the distance between each rear wheel of the target vehicle and the center of the rear axle of the target vehicle.
[0098] In some embodiments of this application, the driving parameters include the front wheel fusion driving parameters, the left rear wheel driving parameters, and the right rear wheel driving parameters of the target vehicle when it is driving; The determining unit 13 is used to determine the front wheel friction circle constraint conditions when the target vehicle is driving based on the front wheel fusion driving parameters; determine the left rear wheel friction circle constraint conditions when the target vehicle is driving based on the left rear wheel driving parameters; determine the right rear wheel friction circle constraint conditions when the target vehicle is driving based on the right rear wheel driving parameters; and determine the front wheel friction circle constraint conditions, the left rear wheel friction circle constraint conditions, and the right rear wheel friction circle constraint conditions as the tire friction circle constraint conditions.
[0099] In some embodiments of this application, the acquisition unit 11 is used to acquire multiple tire radii of multiple tires in the target vehicle; The determining unit 13 is used to determine the plurality of torques to be allocated based on the plurality of longitudinal torques of the plurality of tires and the plurality of tire radii.
[0100] It should be noted that, in practical applications, the aforementioned acquisition unit 11, establishment unit 12, determination unit 13 and processing unit 14 can be implemented by the processor 21 on the electronic device, specifically by a CPU (Central Processing Unit), MPU (Microprocessor Unit), DSP (Digital Signal Processor), or Field Programmable Gate Array (FPGA); the aforementioned data storage can be implemented by the memory 22 on the electronic device.
[0101] This application also provides an electronic device, such as... Figure 4As shown, the electronic device includes a processor 21, a memory 22, and a communication bus 23. The memory 22 communicates with the processor 21 through the communication bus 23. The memory 22 stores programs executable by the processor 21. When the program is executed, the processor 21 executes the torque distribution method as described above.
[0102] In practical applications, the aforementioned memory 22 can be volatile memory, such as random-access memory (RAM); or non-volatile memory, such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid-state drive (SSD); or a combination of the above types of memory, and provide instructions and data to the processor 21.
[0103] This application provides a computer-readable storage medium having a computer program thereon, which, when executed by a processor 21, implements the torque distribution method as described above.
[0104] For example, this application also provides a computer program product, including a computer program that can be executed by a processor 21 in an electronic device to perform the steps described in the aforementioned torque distribution method.
[0105] Understandably, the torque distribution device acquires the target vehicle's driving parameters, lateral stiffness, and wheel relative position information. Based on these parameters, it establishes a vehicle adhesion rate optimization model and determines the target constraints. Then, based on these constraints, it performs torque planning on the adhesion rate optimization model to obtain the longitudinal torques of multiple tires at the minimum adhesion rate. This determines the longitudinal torque of each tire when the vehicle's tires reach their adhesion rate limit. Finally, based on these longitudinal torques, the device determines the torque to be distributed to each tire in the target vehicle, preventing wheel slippage or vehicle loss of control when the tires reach their adhesion limit, thus improving the accuracy of torque distribution.
[0106] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.
[0107] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.
[0108] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.
[0109] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.
[0110] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, and improvements made within the spirit and scope of this application are included within the scope of protection of this application.
Claims
1. A torque distribution method, characterized in that, The method includes: The driving parameters, lateral stiffness, and wheel relative position information of the target vehicle are obtained during its operation; the target vehicle is a three-motor vehicle. An optimization model for vehicle adhesion rate during target vehicle driving is established based on the driving parameters and the vehicle lateral stiffness. The target constraints for the target vehicle during driving are determined based on the driving parameters and the wheel relative position information. Based on the target constraints, torque planning is performed on the vehicle adhesion rate optimization model to obtain the longitudinal torque of multiple tires when the vehicle adhesion rate value is minimized. Based on the longitudinal torque of the multiple tires, multiple torques to be allocated corresponding to the multiple motors of the target vehicle are determined.
2. The method according to claim 1, characterized in that, The vehicle adhesion rate optimization model established based on the driving parameters and the vehicle lateral stiffness includes: Obtain the initial adhesion rate model; The initial model parameters of the initial adhesion rate model are adjusted based on the vehicle lateral stiffness and the driving parameters to obtain the optimized vehicle adhesion rate model.
3. The method according to claim 2, characterized in that, The vehicle lateral stiffness includes the left front wheel lateral stiffness, right front wheel lateral stiffness, left rear wheel lateral stiffness, and right rear wheel lateral stiffness; the driving parameters include front wheel fusion driving parameters, left rear wheel driving parameters, and right rear wheel driving parameters; adjusting the initial model parameters of the initial adhesion rate model based on the vehicle lateral stiffness and the driving parameters to obtain the vehicle adhesion rate optimization model includes: The initial model parameters of the initial adhesion rate model are adjusted based on the left front wheel lateral stiffness, the right front wheel lateral stiffness, and the front wheel fusion driving parameters to obtain the front wheel fusion adhesion rate model. The initial model parameters of the initial adhesion rate model are adjusted according to the left rear wheel lateral stiffness and the left rear wheel driving parameters to obtain the left rear wheel adhesion rate model; The initial model parameters of the initial adhesion rate model are adjusted according to the right rear wheel lateral stiffness and the right rear wheel driving parameters to obtain the right rear wheel adhesion rate model. The front wheel fusion adhesion rate model, the left rear wheel adhesion rate model, and the right rear wheel adhesion rate model are fused to obtain the vehicle adhesion rate optimization model.
4. The method according to claim 3, characterized in that, The front wheel fusion driving parameters include: front wheel fusion adhesion coefficient, front wheel fusion lateral torque, and front wheel fusion vertical torque; The driving parameters of the left rear wheel include: left rear wheel vertical torque, left rear wheel adhesion coefficient, and left rear wheel lateral torque; The driving parameters of the right rear wheel include: right rear wheel vertical torque, right rear wheel adhesion coefficient, and right rear wheel lateral torque.
5. The method according to claim 1, characterized in that, The step of determining the target constraint conditions for the target vehicle's movement based on the driving parameters and the wheel relative position information includes: Based on the driving parameters, determine the longitudinal driving force constraint conditions when the target vehicle is driving; Based on the driving parameters and the wheel relative position information, determine the additional yaw moment constraint conditions when the target vehicle is driving; The tire friction circle constraint conditions for the target vehicle during driving are determined based on the driving parameters. The longitudinal driving force constraint, the additional yaw moment constraint, and the tire friction circle constraint are determined as the target constraint.
6. The method according to claim 5, characterized in that, The driving parameters include the accelerator pedal opening and brake pedal opening of the target vehicle at the current moment; the determination of the longitudinal driving force constraint conditions of the target vehicle based on the driving parameters includes: The vehicle torque of the target vehicle is determined based on the accelerator pedal opening and the brake pedal opening. The longitudinal driving force constraint condition is determined based on the vehicle torque.
7. The method according to claim 5, characterized in that, The driving parameters include the additional yaw moment of the target vehicle at the current moment; the determination of the additional yaw moment constraint conditions of the target vehicle during driving based on the driving parameters and the wheel relative position information includes: Based on the additional yaw moment and at least one distance, the additional yaw moment constraint condition is determined; the wheel relative position information includes at least one distance, which is the distance between each rear wheel of the target vehicle and the center of the rear axle of the target vehicle.
8. The method according to claim 5, characterized in that, The driving parameters include the front wheel blending driving parameters, left rear wheel driving parameters, and right rear wheel driving parameters of the target vehicle when it is driving; the step of determining the tire friction circle constraint conditions of the target vehicle based on the driving parameters includes: Based on the aforementioned front wheel fusion driving parameters, determine the front wheel friction circle constraint conditions when the target vehicle is driving; Based on the driving parameters of the left rear wheel, determine the constraint conditions of the friction circle of the left rear wheel when the target vehicle is in motion; Based on the right rear wheel driving parameters, determine the right rear wheel friction circle constraint conditions when the target vehicle is driving; The front wheel friction circle constraint condition, the left rear wheel friction circle constraint condition, and the right rear wheel friction circle constraint condition are determined as the tire friction circle constraint conditions.
9. The method according to claim 1, characterized in that, The step of determining multiple torques to be allocated for multiple motors of the target vehicle based on the longitudinal torques of the multiple tires includes: Obtain multiple tire radii of multiple tires in the target vehicle; The plurality of torques to be assigned are determined based on the plurality of longitudinal torques of the plurality of tires and the plurality of tire radii.
10. A torque distribution device, characterized in that, The torque distribution device includes: The acquisition unit is used to acquire the driving parameters, vehicle lateral stiffness, and wheel relative position information of the target vehicle during driving; the target vehicle is a three-motor vehicle. A modeling unit is established to create a vehicle adhesion rate optimization model for the target vehicle during driving based on the driving parameters and the vehicle lateral stiffness. The determining unit is used to determine the target constraint conditions when the target vehicle is driving based on the driving parameters and the wheel relative position information; and to determine multiple torques to be allocated corresponding to multiple motors of the target vehicle based on multiple tire longitudinal torques. The processing unit is used to perform torque planning processing on the vehicle adhesion rate optimization model based on the target constraint conditions, so as to obtain the longitudinal torque of the multiple tires when the vehicle adhesion rate value is minimized.