A vehicle torque control method, device, electronic equipment and storage medium
By identifying the speed difference between the front and rear wheels and applying torque limiting to the rear wheels when the front wheels are in transition, the problem of rear axle slippage on low-traction surfaces is solved, thus improving the vehicle's passability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SAIC MOTOR
- Filing Date
- 2024-12-03
- Publication Date
- 2026-06-05
AI Technical Summary
When the front wheels of a vehicle have too little traction on the road surface, the rear axle may slip, causing the entire vehicle to vibrate and affecting its passability.
By identifying the speed difference between the front and rear wheels, it can determine whether the front wheels are in a transitional state from a low-traction road surface to a high-traction road surface. When the front wheels are in a transitional state, torque limiting operations are performed on the rear wheels to reduce the driving torque or braking energy recovery range of the rear wheels.
It effectively prevents rear axle slippage and improves vehicle passability.
Smart Images
Figure CN122143890A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of vehicle technology, and more specifically, to a vehicle torque control method, apparatus, electronic device, and storage medium. Background Technology
[0002] Low-friction surfaces refer to road surfaces with a low coefficient of friction, such as wet and slippery surfaces, ice, snow, and road joints. When the front wheels of a vehicle pass over a low-friction surface, the rear axle may also pass over it simultaneously. At this time, because the rear axle cannot transfer torque to the front axle in time, rear axle slippage occurs, causing the entire vehicle to vibrate and thus affecting the vehicle's passability. Summary of the Invention
[0003] In view of this, this application provides a vehicle torque control method, device, electronic device, and storage medium for controlling the torque of a vehicle when its surface is too low to avoid vehicle vibration and improve vehicle passability.
[0004] To achieve the above objectives, the following solution is proposed:
[0005] A vehicle torque control method, applied to vehicle electronic equipment, the vehicle torque control method comprising the following steps:
[0006] The system identifies whether the front wheels of the vehicle are in a transition state from low-friction surface to high-friction surface based on the speed difference between the front and rear wheels.
[0007] If the front wheels are in the transition state, a torque limiting operation is performed on the rear wheels of the vehicle to reduce the driving torque on the rear wheels.
[0008] Optionally, the step of identifying whether the front wheels of the vehicle are in a transition state from a low-friction surface to a high-friction surface based on the front and rear wheel speed difference includes the following steps:
[0009] Determine whether the front and rear wheel speed difference has decreased within multiple detection steps;
[0010] If a drop occurs, the front wheel is determined to be in the transition state; conversely, if no drop occurs, the front wheel is determined not to be in the transition state.
[0011] Optionally, the torque limiting operation on the rear wheels of the vehicle includes the following steps:
[0012] If the vehicle is in driving condition, a portion of the torque originally output to the rear wheels will be output to the front wheels;
[0013] If the vehicle is under braking conditions, the limitation range of regenerative braking energy on the rear wheels is increased.
[0014] Optionally, if the vehicle is in a driving condition, the step of outputting a portion of the torque originally output to the rear wheels to the front wheels includes the following steps:
[0015] The required torque value is obtained by looking up a table based on the current speed difference between the front and rear wheels.
[0016] Based on the torque value, a portion of the torque value is transferred to the front wheel.
[0017] A vehicle torque control device, applied to electronic equipment in a vehicle, the vehicle torque control device comprising:
[0018] The state recognition module is configured to identify whether the front wheels of the vehicle are in a transition state from low-friction surface to high-friction surface based on the front and rear wheel speed difference;
[0019] The torque limiting control module is configured to perform a torque limiting operation on the rear wheels of the vehicle if the front wheels are in the transition state, so as to reduce the driving torque on the rear wheels.
[0020] Optionally, the state recognition module includes:
[0021] The vehicle speed determination unit is configured to determine whether the speed difference between the front and rear wheels has decreased within multiple detection steps;
[0022] The state determination unit is configured to determine that the front wheel is in the transition state if a drop occurs, and conversely, to determine that the front wheel is not in the transition state if no drop occurs.
[0023] Optionally, the torque limiting control module includes:
[0024] The first control unit is configured to output a portion of the torque originally output to the rear wheels to the front wheels if the vehicle is in a driving condition.
[0025] The second control unit is configured to increase the limit range of regenerative braking energy on the rear wheels if the vehicle is in braking condition.
[0026] Optionally, the first control unit is configured to:
[0027] The required torque value is obtained by looking up a table based on the current speed difference between the front and rear wheels.
[0028] Based on the torque value, a portion of the torque value is transferred to the front wheel.
[0029] An electronic device, applied in a vehicle, includes at least one processor and a memory connected to the processor, wherein:
[0030] The memory is used to store computer programs or instructions;
[0031] The processor is used to execute the computer program or instructions to enable the electronic device to implement the vehicle torque control method as described above.
[0032] A computer-readable storage medium is applied to an electronic device, the storage medium carrying one or more computer programs that can be executed by the electronic device to enable the electronic device to implement the vehicle torque control method as described above.
[0033] As can be seen from the above technical solutions, this application discloses a vehicle torque control method, device, electronic device, and storage medium. This method and device are applied to the vehicle's electronic equipment, specifically identifying whether the front wheels of the vehicle are in a transition state from a low-friction surface to a high-friction surface based on the front-rear wheel speed difference. If the front wheels are in a transition state, torque limiting is applied to the rear wheels to reduce the driving torque on the rear wheels. This solution achieves early intervention by predicting the torque on the rear wheels, thus preventing vehicle vibration caused by rear axle slippage and improving the vehicle's passability. Attached Figure Description
[0034] To more clearly illustrate the technical solutions in the embodiments of 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 only 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 flowchart of a vehicle torque control method according to an embodiment of this application;
[0036] Figure 2 This is a block diagram of a vehicle torque control device according to an embodiment of this application;
[0037] Figure 3 This is a block diagram of another vehicle torque control device according to an embodiment of this application;
[0038] Figure 4 This is a block diagram of an electronic device according to an embodiment of this application. Detailed Implementation
[0039] The technical solutions of the embodiments 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, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.
[0040] Figure 1 This is a flowchart of a vehicle torque control method according to an embodiment of this application.
[0041] like Figure 1 As shown, the vehicle torque control method provided in this embodiment is applied to an electronic device for controlling the torque of the front and rear wheels of an electric vehicle. This electronic device can be understood as a computer, server, or embedded device with information processing and data computing capabilities. For a vehicle, it can be an ECU (Electronic Control Unit), VCU (Vehicle Control Unit), MCU (Micro Controller Unit), HCU (Hybrid Control Unit), etc. The vehicle torque control method of this application includes the following steps:
[0042] S1. Identify whether the front wheel is in a transition state based on the speed difference between the front and rear wheels.
[0043] The front-to-rear wheel speed difference refers to the speed difference between the front and rear wheels of a vehicle. It occurs because when the front wheels are alone on a surface with low traction, the reduced grip causes them to slip, resulting in a sudden increase in speed. This speed difference, relative to the rear wheels under normal traction, is the principle behind detecting whether the front wheels have entered a low-traction surface. Specifically:
[0044] First, determine whether the front and rear wheel speed difference has decreased within multiple detection steps. Specifically, this means that the front and rear wheel speed difference within the current detection step has decreased compared to the front and rear wheel speed difference in the previous nth detection step. This n can be 3 to 10. Generally, it is possible to determine whether the vehicle is slipping through 3 steps, but the data accuracy is higher when there are more steps.
[0045] Then, when the speed difference between the front and rear wheels decreases significantly, it is determined that the front wheel is transitioning from a low-friction surface to a high-friction surface, i.e., the front wheel has entered a transition state between the low-friction and high-friction surfaces. At this time, the degree of slippage of the front wheel decreases, thereby causing the speed difference between the front and rear wheels to decrease significantly.
[0046] S2. Perform torque limiting operation on the rear wheels of the vehicle.
[0047] If it is determined that the front wheels of the vehicle are in this transitional state, then torque limiting is applied to the rear wheels based on the speed difference between the front and rear wheels. The specific operation depends on the vehicle's current operating condition, which can be either driving or braking. Driving condition can be understood as normal driving, and braking condition as braking operation. The specific torque limiting operation is as follows:
[0048] 1. When the vehicle is in driving mode, some of the torque of the rear wheels is transferred to the front wheels, thereby reducing the torque of the rear wheels while keeping the total torque constant.
[0049] When the front axle slips due to low adhesion, the VCU calculates the speed difference between the front and rear wheels in real time and continuously takes the maximum value to obtain the maximum speed difference between the front and rear wheels under the front wheel slippage condition. Based on this maximum speed difference value, the VCU arbitrates and determines the torque value that the rear axle should transfer to the front axle. Specifically, the VCU performs a lookup operation based on this speed difference, finding the torque value corresponding to this speed difference in the MAP table obtained through prior bench testing, i.e., the torque value that needs to be transferred.
[0050] Based on this torque value, a portion of the torque is transferred to the front wheels. After the predicted torque transfer timing is confirmed and before the rear wheels enter low-friction, the flag indicating that the prediction has been confirmed will remain in place until the rear wheels have passed low-friction. After a certain delay, the flag can be removed, and then the rear axle will no longer transfer torque to the front axle.
[0051] 2. When the vehicle is under braking conditions, increase the limit on the regenerative braking energy of the rear wheels, that is, limit the range of regenerative braking energy of the rear wheels to a relatively small value.
[0052] When the driver applies the brakes to a surface with low traction, the rear axle motor performs regenerative braking. If the regenerative braking torque is too high, it can cause the rear axle to vibrate. Therefore, during braking, as the front axle is about to enter a surface with high traction from a low-traction surface, the maximum value of the regenerative braking torque on the rear wheels is limited. This predictive approach allows for preemptive torque reduction on the rear axle, suppressing slippage when the rear axle is too low on traction.
[0053] Once the predicted timing is confirmed and before the rear wheels enter the low-friction zone, the flag indicating the prediction is confirmed will remain in place until the rear wheels have passed the low-friction zone. After a certain delay, the flag will be removed, and thereafter the maximum regenerative braking torque value of the rear axle will no longer be limited.
[0054] The timing of torque limiting also significantly impacts its effectiveness. In this application, when the front wheel is detected moving from a low-friction surface to a high-friction surface within a certain detection cycle, this time is used as the starting time. The wheelbase of the vehicle is divided by the current vehicle speed as the time window. The torque of the rear axle is limited according to the aforementioned starting time and time window, which effectively prevents the rear axle from slipping.
[0055] As can be seen from the above technical solution, this embodiment provides a vehicle torque control method. This method is applied to the vehicle's electronic equipment, specifically identifying whether the front wheels of the vehicle are in a transition state from a low-friction surface to a high-friction surface based on the speed difference between the front and rear wheels. If the front wheels are in a transition state, torque limiting is applied to the rear wheels to reduce the driving torque on the rear wheels. This solution achieves early intervention by predicting the torque on the rear wheels, thus preventing vehicle vibration caused by rear axle slippage and improving the vehicle's passability.
[0056] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.
[0057] Although the operations are described in a specific order, this should not be construed as requiring these operations to be performed in the specific order shown or in a sequential order. In certain environments, multitasking and parallel processing may be advantageous.
[0058] It should be understood that the steps described in the method embodiments of this disclosure may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of this disclosure is not limited in this respect.
[0059] Computer program code for performing the operations of this disclosure can be written in one or more programming languages or a combination thereof, including but not limited to object-oriented programming languages such as Java, Smalltalk, and C++, as well as conventional procedural programming languages such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer.
[0060] Figure 2 This is a block diagram of a vehicle torque control device according to an embodiment of this application.
[0061] like Figure 2 As shown, the vehicle torque control device provided in this embodiment is applied to an electronic device for controlling the torque of the front and rear wheels of an electric vehicle. This electronic device can be understood as a computer, server, or embedded device with information processing and data calculation capabilities. For a vehicle, it can be an ECU (Electronic Control Unit), VCU (Vehicle Control Unit), MCU (Micro Controller Unit), HCU (Hybrid Control Unit), etc. The vehicle torque control device of this application includes a status recognition module 10 and a torque limiting control module 20.
[0062] The status recognition module is used to identify whether the front wheel is in a transition state based on the speed difference between the front and rear wheels.
[0063] The front-to-rear wheel speed difference refers to the speed difference between the front and rear wheels of a vehicle. This occurs because when the front wheels are alone on a low-friction surface, the reduced traction causes slippage, resulting in a sudden increase in speed compared to the rear wheels under normal traction. This speed difference is also the principle behind detecting whether the front wheels have entered a low-friction surface. This module includes a vehicle speed determination unit 11 and a state determination unit 12, such as... Figure 3 As shown.
[0064] The vehicle speed determination unit is used to determine whether the front and rear wheel speed difference has decreased within multiple detection steps. Specifically, it means that the front and rear wheel speed difference within the current detection step has decreased compared to the front and rear wheel speed difference of the previous nth detection step. This n can be 3 to 10. Generally, it is possible to determine whether the vehicle is slipping through 3 steps, but the data accuracy is higher when there are more steps.
[0065] The state determination unit is used to determine when the speed difference between the front and rear wheels significantly decreases, indicating that the front wheel has transitioned from a low-friction surface to a high-friction surface, i.e., it determines that the front wheel has entered a transition state between the low-friction and high-friction surfaces. At this time, the degree of slippage of the front wheel decreases, thereby causing the speed difference between the front and rear wheels to decrease significantly.
[0066] The torque limiting control module is used to limit the torque of the vehicle's rear wheels.
[0067] That is, if it is determined that the front wheels of the vehicle are in this transitional state, then torque limiting operation is performed on the rear wheels based on the speed difference between the front and rear wheels. The specific operation needs to be determined according to the current operating condition of the vehicle, which is either driving condition or braking condition. The driving condition can be understood as the normal driving state, and the braking condition can be understood as the braking condition. This module includes a first control unit 21 and a second control unit 22, such as... Figure 3 As shown.
[0068] The first control unit is used to transfer part of the torque from the rear wheels to the front wheels when the vehicle is in driving mode, thereby reducing the torque on the rear wheels while keeping the total torque constant.
[0069] When the front axle slips due to low adhesion, the VCU calculates the speed difference between the front and rear wheels in real time and continuously takes the maximum value to obtain the maximum speed difference between the front and rear wheels under the front wheel slippage condition. Based on this maximum speed difference value, the VCU arbitrates and determines the torque value that the rear axle should transfer to the front axle. Specifically, the VCU performs a lookup operation based on this speed difference, finding the torque value corresponding to this speed difference in the MAP table obtained through prior bench testing, i.e., the torque value that needs to be transferred.
[0070] Based on this torque value, a portion of the torque is transferred to the front wheels. After the predicted torque transfer timing is confirmed and before the rear wheels enter low-friction, the flag indicating that the prediction has been confirmed will remain in place until the rear wheels have passed low-friction. After a certain delay, the flag can be removed, and then the rear axle will no longer transfer torque to the front axle.
[0071] The second control unit is used to increase the limit range of regenerative braking energy of the rear wheels when the vehicle is in braking condition, that is, to limit the range of regenerative braking energy of the rear wheels to a relatively small value.
[0072] When the driver applies the brakes to a surface with low traction, the rear axle motor performs regenerative braking. If the regenerative braking torque is too high, it can cause the rear axle to vibrate. Therefore, during braking, as the front axle is about to enter a surface with high traction from a low-traction surface, the maximum value of the regenerative braking torque on the rear wheels is limited. This predictive approach allows for preemptive torque reduction on the rear axle, suppressing slippage when the rear axle is too low on traction.
[0073] Once the predicted timing is confirmed and before the rear wheels enter the low-friction zone, the flag indicating the prediction is confirmed will remain in place until the rear wheels have passed the low-friction zone. After a certain delay, the flag will be removed, and thereafter the maximum regenerative braking torque value of the rear axle will no longer be limited.
[0074] The timing of torque limiting also significantly impacts its effectiveness. In this application, when the front wheel is detected moving from a low-friction surface to a high-friction surface within a certain detection cycle, this time is used as the starting time. The wheelbase of the vehicle is divided by the current vehicle speed as the time window. The torque of the rear axle is limited according to the aforementioned starting time and time window, which effectively prevents the rear axle from slipping.
[0075] As can be seen from the above technical solution, this embodiment provides a vehicle torque control device. This device is applied to the vehicle's electronic equipment and specifically identifies whether the front wheels of the vehicle are in a transition state from a low-friction surface to a high-friction surface based on the speed difference between the front and rear wheels. If the front wheels are in a transition state, torque limiting is applied to the rear wheels to reduce the driving torque on the rear wheels. This solution achieves early intervention by predicting the torque on the rear wheels, thus preventing vehicle vibration caused by rear axle slippage and improving the vehicle's passability.
[0076] The units described in the embodiments of this disclosure can be implemented in software or in hardware. The name of a unit does not necessarily limit the unit itself; for example, the first acquisition unit can also be described as "a unit that acquires at least two Internet Protocol addresses".
[0077] The functions described above in this document can be performed, at least in part, by one or more hardware logic components. For example, exemplary types of hardware logic components that can be used, without limitation, include: Field Programmable Gate Arrays (FPGAs), Application-Specific Integrated Circuits (ASICs), Application Standard Products (ASSPs), System-on-Chip (SoCs), Complex Programmable Logic Devices (CPLDs), and so on.
[0078] Figure 4 This is a block diagram of an electronic device according to an embodiment of this application.
[0079] The following is for reference. Figure 4This document illustrates a structural diagram suitable for implementing the electronic device in the embodiments of this disclosure. The terminal device in the embodiments of this disclosure may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. This electronic device is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this disclosure.
[0080] The electronic device may include a processing unit (e.g., a central processing unit, a graphics processing unit, etc.) 401, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 402 or a program loaded from an input device 406 into a random access memory (RAM) 403. The RAM also stores various programs and data required for the operation of the electronic device. The processing unit, ROM, and RAM are interconnected via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.
[0081] Typically, the following devices can be connected to the I / O interface: input devices including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 407 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 408 including, for example, magnetic tapes, hard disks, etc.; and communication devices 409. Communication device 409 allows the electronic device to communicate wirelessly or wiredly with other devices to exchange data. Although electronic devices with various devices are shown in the figures, it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed alternatively.
[0082] This application also provides an embodiment of a computer-readable storage medium.
[0083] The aforementioned computer-readable storage medium is used in an electronic device and carries one or more computer programs. When these programs are executed by the electronic device, the device identifies whether the front wheels are in a transitional state from a low-friction surface to a high-friction surface based on the front-rear wheel speed difference. If the front wheels are in this transitional state, torque limiting is applied to the rear wheels to reduce the driving torque on them. This solution achieves early intervention by predicting the torque on the rear wheels, thus preventing rear axle slippage and resulting in vehicle vibration, thereby improving the vehicle's passability.
[0084] It should be noted that the computer-readable medium described above in this disclosure can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.
[0085] In this disclosure, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus, or device. In this disclosure, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.
[0086] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.
[0087] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.
[0088] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.
[0089] The technical solution provided by the present invention has been described in detail above. Specific examples have been used to illustrate the principle and implementation of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core idea of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation and application scope based on the idea of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.
Claims
1. A vehicle torque control method, applied to vehicle electronic equipment, characterized in that, The vehicle torque control method includes the following steps: The system identifies whether the front wheels of the vehicle are in a transition state from low-friction surface to high-friction surface based on the speed difference between the front and rear wheels. If the front wheels are in the transition state, a torque limiting operation is performed on the rear wheels of the vehicle to reduce the driving torque on the rear wheels.
2. The vehicle torque control method as described in claim 1, characterized in that, The method for identifying whether the front wheels of a vehicle are in a transition state from a low-friction surface to a high-friction surface based on the front-rear wheel speed difference includes the following steps: Determine whether the front and rear wheel speed difference has decreased within multiple detection steps; If a drop occurs, the front wheel is determined to be in the transition state; conversely, if no drop occurs, the front wheel is determined not to be in the transition state.
3. The vehicle torque control method as described in claim 1, characterized in that, The torque limiting operation on the rear wheels of the vehicle includes the following steps: If the vehicle is in driving condition, a portion of the torque originally output to the rear wheels will be output to the front wheels; If the vehicle is under braking conditions, the limitation range of regenerative braking energy on the rear wheels is increased.
4. The vehicle torque control method as described in claim 3, characterized in that, If the vehicle is in driving condition, the step of transferring a portion of the torque originally output to the rear wheels to the front wheels includes the following steps: The required torque value is obtained by looking up a table based on the current speed difference between the front and rear wheels. Based on the torque value, a portion of the torque value is transferred to the front wheel.
5. A vehicle torque control device, applied to vehicle electronic equipment, characterized in that, The vehicle torque control device includes: The state recognition module is configured to identify whether the front wheels of the vehicle are in a transition state from low-friction surface to high-friction surface based on the front and rear wheel speed difference; The torque limiting control module is configured to perform a torque limiting operation on the rear wheels of the vehicle if the front wheels are in the transition state, so as to reduce the driving torque on the rear wheels.
6. The vehicle torque control device as described in claim 5, characterized in that, The status recognition module includes: The vehicle speed determination unit is configured to determine whether the speed difference between the front and rear wheels has decreased within multiple detection steps; The state determination unit is configured to determine that the front wheel is in the transition state if a drop occurs, and conversely, to determine that the front wheel is not in the transition state if no drop occurs.
7. The vehicle torque control device as described in claim 5, characterized in that, The torque limiting control module includes: The first control unit is configured to output a portion of the torque originally output to the rear wheels to the front wheels if the vehicle is in a driving condition. The second control unit is configured to increase the limit range of regenerative braking energy on the rear wheels if the vehicle is in braking condition.
8. The vehicle torque control device as described in claim 7, characterized in that, The first control unit is configured as follows: The required torque value is obtained by looking up a table based on the current speed difference between the front and rear wheels. Based on the torque value, a portion of the torque value is transferred to the front wheel.
9. An electronic device used in a vehicle, characterized in that, The electronic device includes at least one processor and a memory connected to the processor, wherein: The memory is used to store computer programs or instructions; The processor is used to execute the computer program or instructions to enable the electronic device to implement the vehicle torque control method as described in any one of claims 1 to 4.
10. A computer-readable storage medium for use in electronic devices, characterized in that, The storage medium carries one or more computer programs that can be executed by the electronic device, thereby enabling the electronic device to implement the vehicle torque control method as described in any one of claims 1 to 4.