Method and apparatus for vehicle torque control, electronic device, and storage medium

Abstract

A vehicle torque control method, comprising: Step 101 of obtaining the wheel speed of a wheel corresponding to a vehicle driver shaft and calculating an equivalent rotational speed of a motor according to the wheel speed of the wheel; Step 102 of obtaining the actual rotational speed of a motor corresponding to the driver shaft and calculating an equivalent rotational speed difference of the motor of the driver shaft to which the wheel is attached according to the equivalent rotational speed of the motor and the actual rotational speed of the motor corresponding to the driver shaft; Step 103 of obtaining a corrected torque value corresponding to the equivalent rotational speed difference of the motor of the driver shaft to which the wheel is attached; Step 104 of adjusting the output torque of the motor corresponding to the driver shaft according to the corrected torque value. Also disclosed are a vehicle torque control device, an electronic device, a storage medium, and a vehicle. The method reduces the difficulty of calculating the slip ratio. According to the state of a single wheel and the state of a single shaft, the torque of the motor of the driver shaft corresponding to the slipping wheel can be adjusted, the adhesion utilization rate of the whole vehicle is improved, thereby improving the power performance of the whole vehicle and avoiding the power loss caused by controlling torque reduction using the slip ratio.

Description

Technical Field

[0001] Cross - reference to Related Applications This disclosure is provided based on Chinese Patent Application No. 202210552589.0 filed on May 20, 2022, and claims priority to the above - mentioned Chinese patent application. The entire content of the above - mentioned Chinese patent application is incorporated herein by reference.

[0002] This disclosure relates to the technical field of vehicles, and in particular, to a method and apparatus for vehicle torque control, an electronic device, and a storage medium.

Background Art

[0003] With the development of new - energy vehicle technology, the requirements for the safety and comfort of new - energy vehicles are becoming increasingly high. Currently, most new - energy vehicles are four - wheel drive vehicles, and each wheel can obtain power. Therefore, the response speed of a single wheel is relatively fast, and the wheel is easily affected by slip. In related technologies, in order to solve this problem, vehicle slip is generally determined by the slip ratio to control vehicle slip. However, when calculating the slip ratio, it is necessary to estimate the vehicle speed, which increases the difficulty of the algorithm.

Summary of the Invention

Problems to be Solved by the Invention

[0004] In view of the above problems, embodiments of the present disclosure are proposed to provide a method and apparatus for vehicle torque control, an electronic device, and a storage medium to overcome or at least partially solve the above problems.

Means for Solving the Problems

[0005] To solve the above problems, an embodiment of the present disclosure discloses a vehicle torque control method. This method includes the following:

[0006] The wheel speed of a wheel corresponding to a vehicle drive shaft is acquired, and an equivalent rotational speed of a motor is calculated based on the wheel speed of the wheel.

[0007] The actual rotational speed of a motor corresponding to a drive shaft is acquired, and an equivalent rotational speed difference of the motor of the drive shaft on which the wheel is disposed is calculated based on the equivalent rotational speed of the motor and the actual rotational speed of the motor corresponding to the drive shaft.

[0008] The corrected torque value is acquired based on the equivalent rotational speed difference of the motor of the drive shaft on which the wheel is disposed.

[0009] The output torque of the motor corresponding to the drive shaft is adjusted based on the corrected torque value.

[0010] In one embodiment, calculating the equivalent rotational speed difference of the motor of the drive shaft on which the wheel is disposed based on the equivalent rotational speed of the motor and the actual rotational speed of the motor corresponding to the drive shaft includes the following:

[0011] To obtain the equivalent rotational speed difference of the motor of the drive shaft on which the wheel is disposed, the difference between the equivalent rotational speed of the motor and the actual rotational speed of the motor corresponding to the drive shaft is calculated.

[0012] In one embodiment, acquiring the corrected torque value based on the equivalent rotational speed difference of the motor of the drive shaft on which the wheel is disposed includes the following:

[0013] When the equivalent rotational speed difference of the motor of the drive shaft on which the wheel is disposed is greater than a rotational speed difference threshold value, the corrected torque value is acquired.

[0014] In one embodiment, acquiring the corrected torque value based on the equivalent rotational speed difference of the motor of the drive shaft on which the wheel is disposed includes the following:

[0015] The wheel acceleration change rate of the wheel is obtained.

[0016] When the equivalent rotational speed difference of the motor of the drive shaft where the wheel is disposed is greater than the rotational speed difference threshold value and the wheel acceleration change rate is greater than the wheel acceleration change rate threshold value, a corrected torque value is obtained.

[0017] In one embodiment, the output torque of the motor corresponding to the drive shaft being adjusted based on the corrected torque value includes the following:

[0018] The motor corresponding to the drive shaft is controlled to reduce the torque based on the corrected torque value.

[0019] In one embodiment, the drive shaft includes a front axle and a rear axle. The motor corresponding to the drive shaft being controlled to reduce the torque based on the corrected torque value includes the following:

[0020] When the equivalent rotational speed difference of the motor corresponding to the front axle is greater than the rotational speed difference threshold value, the motor of the front axle is controlled to reduce the torque based on the corrected torque value, or

[0021] When the equivalent rotational speed difference of the motor corresponding to the rear axle is greater than the rotational speed difference threshold value, the motor of the rear axle is controlled to reduce the torque based on the corrected torque value, or

[0022] When the equivalent rotational speed differences of the motors corresponding to both the front axle and the rear axle are greater than the rotational speed difference threshold value, the motors of the front axle and the rear axle are controlled to reduce the torque based on the corrected torque value.

[0023] In one embodiment, when the equivalent rotational speed difference of the motor corresponding to the front axle is greater than the rotational speed difference threshold, the motor of the front axle is controlled to reduce torque based on the corrected torque value, or when the equivalent rotational speed difference of the motor corresponding to the rear axle is greater than the rotational speed difference threshold, the motor of the rear axle is controlled to reduce torque based on the corrected torque value, which includes the following:

[0024] When the equivalent rotational speed difference of the motor corresponding to the front axle is greater than the rotational speed difference threshold, the motor corresponding to the front axle is controlled to reduce the corrected torque value, and the rear axle torque increment value that can be incremented by the motor corresponding to the rear axle is determined; if the rear axle torque increment value is greater than or equal to the corrected torque value, the motor corresponding to the rear axle is controlled to increase the corrected torque value, or if the rear axle torque increment value is less than the corrected torque value, the motor corresponding to the rear axle is controlled to increase torque based on the rear axle torque increment value; or

[0025] When the equivalent rotational speed difference of the motor corresponding to the rear axle is greater than the rotational speed difference threshold, the motor corresponding to the rear axle is controlled to reduce the corrected torque value, and the front axle torque increment value that can be incremented by the motor corresponding to the front axle is determined; if the front axle torque increment value is greater than or equal to the corrected torque value, the motor corresponding to the front axle is controlled to increase the corrected torque value, or if the front axle torque increment value is less than the corrected torque value, the motor corresponding to the front axle is controlled to increase torque based on the front axle torque increment value.

[0026] In one embodiment, calculating the equivalent rotational speed of the motor based on the wheel speed of the wheel includes the following:

[0027] The gear ratio of the wheel to the motor corresponding to the drive shaft is obtained.

[0028] The equivalent rotational speed of the motor is calculated based on the wheel speed of the wheel and the corresponding gear ratio of the wheel.

[0029] In one embodiment, obtaining the corrected torque value includes the following:

[0030] The corresponding corrected torque value is calculated based on the following formula:

[0031] ΔT fl =k 1 *Δω fl +k 2 *(Δω fl -D 1 ), where k 1 and k 2 are the proportionality coefficient and the difference coefficient, respectively, D 1 is the equivalent rotational speed difference of the motor corresponding to the drive shaft at the previous sampling time, Δω fl is the equivalent rotational speed difference of the motor corresponding to the drive shaft at the current time, and ΔT fl is the corrected torque value.

[0032] In one embodiment, obtaining the corrected torque value includes the following:

[0033] The corrected left wheel torque value corresponding to the left wheel connected to the drive shaft is obtained, and the corrected right wheel torque value corresponding to the right wheel connected to the drive shaft is obtained.

[0034] The magnitudes of the corrected left wheel torque value and the corrected right wheel torque value are determined, and the larger value is taken as the corrected torque value.

[0035] In one embodiment, adjusting the output torque of the motor corresponding to the drive shaft based on the corrected torque value includes the following:

[0036] The torque lower limit value is determined.

[0037] After the corrected torque value is reduced, if the current output torque of the motor corresponding to the drive shaft is less than or equal to the torque lower limit value, the output torque of the motor corresponding to the drive shaft is controlled to be the torque lower limit value.

[0038] In one embodiment, determining the torque lower limit value includes the following:

[0039] When the equivalent rotational speed difference of the motor corresponding to the drive shaft is greater than the first rotational speed difference threshold value and less than the second rotational speed difference threshold value, the torque lower limit value is determined to be 0. The second rotational speed difference threshold value is greater than the first rotational speed difference threshold value.

[0040] When the equivalent rotational speed difference of the motor corresponding to the drive shaft is greater than the second rotational speed difference threshold value, the torque lower limit value is determined as the torque limit value for motor reverse rotation.

[0041] In another aspect, one embodiment of the present disclosure discloses a vehicle torque control device including the following:

[0042] An information acquisition module configured to acquire the wheel speed of the wheel corresponding to the vehicle drive shaft and acquire the rotational speed of the motor corresponding to the drive shaft;

[0043] A calculation module configured to calculate an equivalent rotational speed based on the wheel speed of the wheel and calculate an equivalent rotational speed difference of the motor of the drive shaft on which the wheel is disposed based on the rotational speed of the wheel and the rotational speed of the motor corresponding to the drive shaft;

[0044] A determination module configured to acquire a corrected torque value based on the equivalent rotational speed difference of the motor of the drive shaft on which the wheel is disposed;

[0045] A control module configured to adjust the output torque of the motor corresponding to the drive shaft based on the corrected torque value.

[0046] In one embodiment, the calculation module includes the following:

[0047] An equivalent rotational speed difference calculation sub-module configured to calculate the difference between the equivalent rotational speed of the motor and the actual rotational speed of the motor corresponding to the drive shaft on which the wheel is disposed, in order to obtain the equivalent rotational speed difference of the motor of the drive shaft on which the wheel is disposed.

[0048] In one embodiment, the determination module includes the following:

[0049] A first determination sub-module configured to obtain a corrected torque value when the equivalent rotational speed difference of the motor of the drive shaft on which the wheel is disposed is greater than the rotational speed difference threshold.

[0050] In one embodiment, the determination module includes the following:

[0051] A second determination sub-module configured to obtain the wheel acceleration change rate of the wheel; and

[0052] A third determination sub-module configured to obtain a corrected torque value when the equivalent rotational speed difference of the motor of the drive shaft on which the wheel is disposed is greater than the rotational speed difference threshold and the wheel acceleration change rate is greater than the wheel acceleration change rate threshold.

[0053] In one embodiment, the control module includes the following:

[0054] A first adjustment sub-module configured to control the motor corresponding to the drive shaft to reduce the torque based on the corrected torque value.

[0055] In one embodiment, the drive shaft includes a front axle and a rear axle, and the first adjustment sub-module includes the following:

[0056] When the equivalent rotational speed difference of the motor corresponding to the front axle is greater than the rotational speed difference threshold value, controlling the motor of the front axle to reduce the torque based on the corrected torque value, or

[0057] When the equivalent rotational speed difference of the motor corresponding to the rear axle is greater than the rotational speed difference threshold value, controlling the motor of the rear axle to reduce the torque based on the corrected torque value, or

[0058] When the equivalent rotational speed differences of the motors corresponding to both the front axle and the rear axle are greater than the rotational speed difference threshold value, controlling the motors of the front axle and the rear axle to reduce the torque based on the corrected torque value, a first adjustment unit configured to perform.

[0059] In one embodiment, the first adjustment unit includes the following:

[0060] When the equivalent rotational speed difference of the motor corresponding to the front axle is greater than the rotational speed difference threshold value, controlling the motor corresponding to the front axle to reduce the corrected torque value, and determining a rear axle torque increment value that can be incremented by the motor corresponding to the rear axle; and, if the rear axle torque increment value is greater than or equal to the corrected torque value, controlling the motor corresponding to the rear axle to increase the corrected torque value, or if the rear axle torque increment value is less than the corrected torque value, controlling the motor corresponding to the rear axle to increase the torque based on the rear axle torque increment value, a first adjustment subunit configured to perform; and

[0061] When the equivalent rotational speed difference of the motor corresponding to the rear axle is greater than the rotational speed difference threshold value, control the motor corresponding to the rear axle so as to reduce the corrected torque value, and determine the front axle torque increment value that can be incremented by the motor corresponding to the front axle; and, if the front axle torque increment value is greater than or equal to the corrected torque value, control the motor corresponding to the front axle so as to increase the corrected torque value, or if the front axle torque increment value is less than the corrected torque value, control the motor corresponding to the front axle so as to increase the torque based on the front axle torque increment value. The second adjustment subunit is configured to perform the above operations.

[0062] In one embodiment, the calculation module includes the following:

[0063] A gear ratio acquisition sub-module configured to acquire the gear ratio of the wheel with respect to the motor corresponding to the drive shaft; and

[0064] An equivalent rotational speed calculation sub-module configured to calculate the equivalent rotational speed of the motor based on the wheel speed of the wheel and the corresponding gear ratio.

[0065] In one embodiment, the determination module includes the following:

[0066] A fourth determination sub-module configured to calculate the corresponding corrected torque value based on the following formula:

[0067] ΔT fl =k 1 *Δω fl +k 2 *(Δω fl -D 1 ) where k 1 and k 2 are the proportional coefficient and the differential coefficient, D 1 is the equivalent rotational speed difference of the motor corresponding to the drive shaft at the previous sampling time, Δω fl is the equivalent rotational speed difference of the motor corresponding to the drive shaft at the current time, ΔT flis the corrected torque value.

[0068] In one embodiment, the determination module includes the following:

[0069] A sub-module for obtaining a corrected left-wheel torque value corresponding to a left wheel connected to the drive shaft and a corrected right-wheel torque value corresponding to a right wheel connected to the drive shaft, configured to obtain the corrected wheel torque value; and

[0070] A fifth determination sub-module configured to determine the magnitudes of the corrected left-wheel torque value and the corrected right-wheel torque value, and set the larger value as the corrected torque value.

[0071] In one embodiment, the control module includes the following:

[0072] A torque lower limit value determination sub-module configured to determine the torque lower limit value; and

[0073] A second adjustment sub-module configured to control the output torque of the motor corresponding to the drive shaft to be the torque lower limit value when the current output torque of the motor corresponding to the drive shaft is below the torque lower limit value after the corrected torque value is reduced.

[0074] In one embodiment, the torque lower limit value determination sub-module includes the following:

[0075] A first torque lower limit value determination unit configured to determine that the torque lower limit value is 0 when the equivalent rotational speed difference of the motor corresponding to the drive shaft is greater than a first rotational speed difference threshold and less than a second rotational speed difference threshold, where the second rotational speed difference threshold is greater than the first rotational speed difference threshold; and

[0076] A second torque lower limit value determination unit configured to determine a lower limit value of torque as a torque limit value for reverse rotation of the motor when an equivalent rotational speed difference of the motor corresponding to the drive shaft is greater than a second rotational speed difference threshold value.

[0077] In another aspect, an embodiment of the present disclosure discloses an electronic device including a processor, a memory, and a computer program stored in the memory and executable on the processor. The steps of the vehicle torque control method described above are performed when the computer program is executed by the processor.

[0078] In another aspect, an embodiment of the present disclosure discloses a computer-readable storage medium. The computer-readable storage medium stores a computer program. The steps of the vehicle torque control method described above are performed when the computer program is executed by the processor.

[0079] In another aspect, an embodiment of the present disclosure discloses a vehicle. The vehicle includes a front motor, a rear motor, and a controller. The controller is configured to perform the steps of the vehicle torque control method described above.

[0080] Embodiments of the present disclosure have the following advantages.

[0081] According to the present disclosure, an equivalent rotational speed difference of a drive shaft on which a wheel is disposed can be calculated based on the wheel speed of the wheel and the rotational speed of the drive shaft, and based on the equivalent rotational speed difference, it can be determined whether the shaft on which the wheel is disposed needs torque reduction, thereby reducing the difficulty of calculating the slip ratio. According to the present disclosure, based on the state of a single wheel and the state of a single shaft, the torque of the motor of the drive shaft corresponding to the slipping wheel can be adjusted, thereby improving the adhesion utilization rate of the entire vehicle, thereby improving the power performance of the entire vehicle, and avoiding power loss caused by torque reduction control through the slip ratio.

Brief Description of the Drawings

[0082]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Modes for Carrying Out the Invention

[0083] In order to make the above - mentioned objects, features and advantages of the present disclosure clearer and easier to understand, the present disclosure will be further described in detail below with reference to the accompanying drawings and specific implementation forms.

[0084] In related technologies, the wheel slip ratio is obtained by the front wheel rotational speed / rear wheel rotational speed / vehicle speed. When the slip ratio becomes larger than the threshold value, the torque of the motor is reduced to control the slip of the vehicle. However, the slip state of a single shaft and a single wheel, as well as the requirements for adjusting the torques of the front - axle motor and the rear - axle motor, are not considered, which reduces the dynamic performance of the whole vehicle. Moreover, it is necessary to estimate the vehicle speed when calculating the slip ratio, which increases the difficulty of the algorithm.

[0085] One of the central ideas of the embodiments of the present disclosure is to calculate the equivalent rotational speed difference of the motor of the drive shaft on which the wheel is disposed based on the equivalent rotational speed of the wheel speed of the wheel and the rotational speed of the motor of the drive shaft on which the wheel is disposed, calculate the corresponding corrected torque based on the equivalent rotational speed difference, and adjust the torque of the motor corresponding to the drive shaft on which the slipping wheel is disposed based on the corrected torque.

[0086] FIG. 1 is a step flowchart of a vehicle torque control method according to an embodiment of the present disclosure, and specifically may include the following steps.

[0087] Step 101: The wheel speed of the wheel corresponding to the vehicle drive shaft is acquired, and the equivalent rotational speed of the motor is calculated based on the wheel speed of the wheel.

[0088] In the embodiments of the present disclosure, the vehicle may be a four-wheel drive vehicle or a two-wheel drive vehicle. A two-wheel drive vehicle means that two front wheels or two rear wheels are driven by one motor. Four-wheel drive vehicles may be classified into dual-motor drive, three-motor drive, and four-motor drive. A dual-motor four-wheel drive vehicle means that one motor drives two front wheels and the other motor drives two rear wheels. A three-motor four-wheel drive vehicle means that one motor drives two wheels on one shaft, and the two wheels on the opposite side are driven by two motors. A four-motor four-wheel drive vehicle means that two motors drive two front wheels and two motors drive two rear wheels. It should be noted that the examples in the embodiments of the present disclosure are all described by taking a dual-motor four-wheel drive vehicle (that is, the front axle is driven by one motor for two wheels, and the rear axle is driven by another motor for two wheels) as an example.

[0089] In a vehicle sensor, the wheel speed sensor has a tooth ring with a small number (usually 8 or 16) of teeth and a low resolution (usually 45° or 22.5°), so it cannot accurately and effectively identify high-speed and minute rotational speed fluctuations. However, the motor rotational speed sensor features a high resolution (usually about 360° / 4096 ≈ 0.088°), so it can accurately and effectively identify small fluctuations. Therefore, the measurement of the motor rotational speed is faster and more accurate than the measurement of the wheel speed. In addition, the torque at the motor end is first transmitted to the reducer and then to the left and right wheels through a mechanical transmission, but there is a certain delay in this process. The changing trend of the wheel speed of the wheel can be predicted in advance by the motor rotational speed, which is convenient for vehicle control.

[0090] Therefore, the wheel speed of each wheel of the vehicle can be collected by the wheel speed sensor, and the transmission ratio between the wheel and the motor can be queried. Based on the wheel speed and the transmission ratio of the wheel, the equivalent rotational speed of the motor when the wheel speed of the wheel is equivalent to the rotational speed of the motor end corresponding to the drive shaft is calculated.

[0091] Step 102: The actual rotational speed of the motor corresponding to the drive shaft is obtained, and based on the equivalent rotational speed of the motor and the actual rotational speed of the motor corresponding to the drive shaft, the equivalent rotational speed difference of the motor of the drive shaft where the wheel is located is calculated.

[0092] In an embodiment of the present disclosure, the rotational speed of the motor corresponding to the vehicle drive shaft may be collected by a motor resolver sensor, and the difference between the equivalent rotational speed of the wheel and the rotational speed of the motor corresponding to the drive shaft can be calculated, whereby the equivalent rotational speed difference of the motor of the drive shaft where the wheel is located can be obtained.

[0093] Step 103: The corrected torque value is obtained based on the equivalent rotational speed difference of the motor of the drive shaft where the wheel is disposed.

[0094] Specifically, whether the wheel is slipping may be determined based on the equivalent shaft speed difference, and then a corrected torque value corresponding to eliminating the equivalent rotational speed difference can be calculated based on the equivalent rotational speed difference and the equivalent rotational speed difference at a previous time.

[0095] Step 104: The output torque of the motor corresponding to the drive shaft is adjusted based on the corrected torque value.

[0096] In an embodiment of the present disclosure, based on the corrected torque value, the torque of the motor of the drive shaft where the slipping wheel is disposed can be reduced. In addition, the torque of the motor of the drive shaft where the non-slipping wheel is disposed can be increased, thereby avoiding wheel slip.

[0097] According to the present disclosure, based on the wheel speed of the wheel and the rotational speed of the drive shaft, the equivalent rotational speed difference of the motor of the drive shaft where the wheel is disposed can be calculated, and based on the equivalent rotational speed difference, it can be determined whether the shaft where the wheel is disposed is slipping so as to determine whether torque reduction is necessary, thereby reducing the difficulty of calculating the slip ratio. According to the present disclosure, based on the state of a single wheel and the state of a single shaft, the torque of the motor of the drive shaft where the slipping wheel is disposed can be adjusted, thereby improving the adhesion utilization rate of the entire vehicle, improving the power performance of the entire vehicle, and avoiding power loss caused by torque reduction through the slip ratio.

[0098] It should be understood that the wheel speed of the wheel corresponding to the drive shaft mentioned above means the wheel speed of the wheel connected to the drive shaft. The wheel speed of one of the wheels connected to the drive shaft may be obtained, or the wheel speeds of both wheels may be obtained. Based on the wheel speed, the equivalent rotational speed of the motor corresponding to the wheel is calculated and compared with the actual rotational speed of the motor, whereby it can be determined which wheel of the drive shaft is slipping.

[0099] Figure 2 is a step flowchart of a vehicle torque control method according to another embodiment of the present disclosure, and specifically may include the following steps.

[0100] Step 201: The actual rotational speed of the motor corresponding to the drive shaft is obtained, the gear ratio of the wheel to the motor corresponding to the drive shaft is obtained, and based on the wheel speed of the wheel and the corresponding gear ratio of the wheel, the equivalent rotational speed of the motor is calculated.

[0101] In one example, the wheel speeds ω fl , ω fr , ω rl , ω rr can be collected by wheel speed sensors in the vehicle, and the collected wheel speeds of each wheel are filtered. The filtering method is not limited to first-order low-pass filtering, average filtering, and Kalman filtering.

[0102] The gear ratio between each wheel and the motor can be queried, and the equivalent rotational speed of each wheel is calculated by the following formulas (1) and (2): ω fleq = ω fl × i fl ω freq = ω fr × i fr Formula (1), and ω rleq = ω rl × irl and ω rreq = ω rr × i rr Equation (2),

[0103] Here, ω fl and ω fr and ω rl and ω rr represent the left front wheel speed, right front wheel speed, left rear wheel speed, and right rear wheel speed respectively, and i fl and i fr and i rl and i rr represent the gear ratios of the left front wheel, right front wheel, left rear wheel, and right rear wheel to the motor respectively. The gear ratio is greater than 1. ω fleq and ω freq and ω rleq and ω rreq represent the equivalent rotational speeds of the left front wheel, right front wheel, left rear wheel, and right rear wheel respectively.

[0104] Step 202: The rotational speed of the motor corresponding to the drive shaft is obtained, the difference between the equivalent rotational speed of the motor and the actual rotational speed of the motor corresponding to the drive shaft is calculated, and the equivalent rotational speed difference of the motor of the drive shaft where the wheel is arranged is obtained.

[0105] In an embodiment of the present disclosure, based on the motor resolver sensor, the rotational speed of the corresponding motor can be collected. The collected rotational speeds of the front axle motor and the rear axle motor are set to ω mf and ω mr . The rotational speed of the motor is filtered. The filtering method is not limited to first-order low-pass filtering, average filtering, and Kalman filtering.

[0106] In the non-slip state, the motor is connected to the drive shaft by the differential. According to the principle of the open differential, the relationship between the equivalent rotational speed of the wheel speed of each front wheel and the rotational speed of the motor of the front wheel is shown in Equation (3), and the relationship between the equivalent rotational speed of the wheel speed of each rear wheel and the rotational speed of the motor of the rear wheel is shown in Equation (4). 2ω mf =ω fleq +ω freq Equation (3); and 2ω mr =ω rleq +ω rreq Equation (4),

[0107] Here, ω mf is the rotational speed of the motor of the front wheel, and ω mr is the rotational speed of the motor of the rear wheel.

[0108] Therefore, when the wheel is slipping, there is a difference between the rotational speed of the motor and the equivalent rotational speed of the motor.

[0109] The difference between the equivalent rotational speed of the motor and the actual rotational speed of the motor corresponding to the drive shaft is calculated, the equivalent rotational speed difference of the motor of the drive shaft where the wheel is arranged is obtained, and the equivalent rotational speed differences of the motors corresponding to the drive shafts where the left front wheel, right front wheel, left rear wheel, and right rear wheel are arranged respectively are calculated by Equation (5) and Equation (6): Δω fl =ω fleq -ω mf , Δω fr =ω freq -ω mf Equation (5); and Δω rl =ω rleq -ω mr , Δω rr =ω rreq -ω mr Equation (6),

[0110] Here, Δω fl , Δω fr , Δω rl , Δωrr represent the equivalent rotational speed differences of the left front wheel, right front wheel, left rear wheel, and right rear wheel, respectively.

[0111] In the present disclosure, whether a wheel is slipping is determined by the equivalent rotational speed difference of the motor. Compared with a wheel speed sensor, a motor rotational speed sensor can identify earlier that the vehicle is slipping, and can improve real-time performance and control accuracy.

[0112] Step 203: When the equivalent rotational speed difference of the motor of the drive shaft where the wheel is disposed is greater than the rotational speed difference threshold, a corrected torque value is obtained.

[0113] In an embodiment of the present disclosure, the rotational speed difference threshold may be set based on the rotational speed of the motor of the shaft where the wheel is disposed. When the equivalent rotational speed difference is greater than the rotational speed difference threshold, it can be determined that the drive shaft where the wheel is disposed is slipping and needs to be corrected, and a torque value corrected based on the equivalent rotational speed difference can be calculated.

[0114] In an embodiment of the present disclosure, obtaining a corrected torque value may include the following: a corresponding corrected torque value is calculated based on the following formula (7): ΔT fl =k 1 *Δω fl +k 2 *(Δω fl -D 1 ) Formula (7),

[0115] where k 1 and k 2 are a proportional coefficient and a differential coefficient, respectively, which can be obtained by looking up a table, D 1 is the equivalent rotational speed difference of the motor corresponding to the drive shaft at the previous sampling time, and Δω flis the equivalent rotational speed difference of the motor corresponding to the drive shaft at the current time, and ΔT fl is the corrected torque value.

[0116] In one embodiment of the present disclosure, step 103 may include the following sub-steps S21 and S22.

[0117] Sub-step S21: The rate of change of wheel acceleration of the wheel is obtained.

[0118] Specifically, the wheel accelerations a fl , a fr , a rl , a rr representing the wheel accelerations of the left front wheel, right front wheel, left rear wheel, and right rear wheel respectively can be differentiated based on the previously obtained wheel speed of the wheel, and then the rate of change of wheel acceleration can be calculated based on the wheel accelerations of the left front wheel, right front wheel, left rear wheel, and right rear wheel.

[0119] Sub-step S22: When the equivalent rotational speed difference of the motor of the drive shaft where the wheel is disposed is greater than the rotational speed difference threshold and the rate of change of wheel acceleration is greater than the rate of change of wheel acceleration threshold, the corrected torque value is obtained.

[0120] In an embodiment of the present disclosure, whether the motor of the drive shaft where the wheel is disposed is slipping may alternatively be determined based on another method, that is, the rotational speed difference threshold can be set based on the rotational speed of the motor of the shaft where the wheel is disposed.

[0121] In one example, the rotational speed difference thresholds S1, S2, S5, S6 (S5 > S1 > 0, S6 > S2 > 0), and the rate of change of wheel acceleration thresholds A1, A2 (A1 > 0, A2 > 0) are preset. When S1 < Δω fl < S5 and a fl > A1, it is determined that the left front wheel is slightly slipping, and Δωfl >When it is S5, it is determined that the vehicle is slipping significantly. S2 < Δω fr <When it is S6 and a fl >When it is A2, it is determined that the right front wheel is slipping moderately, and Δω fr >When it is S6, it is determined that the vehicle is slipping significantly. When the left front wheel or the right front wheel is slipping moderately or significantly, it is determined that the front axle is slipping; otherwise, it is determined that none of the front axles is slipping.

[0122] In an embodiment of the present disclosure, Δω fl >When it is S5 and a fl >When it is A1, it is determined that the vehicle is slipping significantly, and Δω fr >When it is S6 and a fl >When it is A2, it is determined that the vehicle is slipping significantly.

[0123] Rotation speed difference thresholds S3, S4, S7, S8 (S7 > S3 > 0, S8 > S4 > 0), and wheel acceleration change rate thresholds A3, A4 (A3 > 0, A4 > 0) are preset. S3 < Δω rl <When it is S7 and a rl >When it is A3, it is determined that the left rear wheel is slipping moderately, and Δω rl >When it is S7, it is determined that the vehicle is slipping significantly. S4 < Δω rr <When it is S8 and a rr >When it is A4, it is determined that the right rear wheel is slipping moderately, and Δω rr >When it is S8, it is determined that the vehicle is slipping significantly. When the left rear wheel or the right rear wheel is slipping moderately or significantly, it is determined that the rear axle is slipping; otherwise, it is determined that none of the rear axles is slipping.

[0124] In an embodiment of the present disclosure, Δω rl >When it is S7 and a rl >When it is A3, it is determined that the vehicle is slipping significantly, and Δω rr >When it is S8 and a rrWhen it is >A4, it is determined that the vehicle is slipping significantly.

[0125] Step 204: The motor corresponding to the drive shaft is controlled to reduce torque based on the corrected torque value.

[0126] FIG. 3 is a flowchart showing the determination of the slip of the front axle of a vehicle according to an embodiment of the present disclosure.

[0127] In an embodiment of the present disclosure, whether the wheel corresponding to the front drive shaft is slipping can be determined based on the comparison between the equivalent rotational speed difference of the front wheels in step 202 and the rotational speed difference threshold value. In the front drive shaft, if any wheel is slipping, it is determined that the front drive shaft is slipping. For example, S1 < Δω fl < S5 and a fl When it is >A1, the left front wheel is slipping, indicating that the front axle is slipping. If neither of the wheels on both sides of the front drive shaft is slipping, it is determined that none of the front drive shafts are slipping. For example, Δω fl < S1 and a fl < A1, Δω fr < S2 and a fl When it is >A2, neither the left front wheel nor the right front wheel is slipping, indicating that none of the front axles are slipping.

[0128] FIG. 4 is a flowchart showing the determination of the slip of the rear axle of a vehicle according to an embodiment of the present disclosure.

[0129] In an embodiment of the present disclosure, whether the wheel corresponding to the rear drive shaft is slipping can be determined based on the comparison between the equivalent rotational speed difference of the rear wheels in step 202 and the rotational speed difference threshold value. In the rear drive shaft, if any wheel is slipping, it is determined that the rear drive shaft is slipping. For example, S3 < Δω rl<S7 and a rl >When A3, it is determined that the left rear wheel is slipping moderately and the rear axle is slipping. If neither of the wheels of both rear drive shafts is slipping, it is determined that none of the front drive shafts is slipping. For example, Δω rl <S3 and a rl <A3, Δω rr <S4 and a rr <When A4, it indicates that neither of the wheels of both rear drive shafts is slipping and none of the corresponding rear axles is slipping.

[0130] Figure 5 is a flowchart showing the torque control guidelines for the front axle and the rear axle according to an embodiment of the present disclosure.

[0131] In an embodiment of the present disclosure, when the front drive shaft or the rear drive shaft slips, the torque of the slipping drive shaft is reduced and the torque of the non-slipping drive shaft is increased. When both the front drive shaft and the rear drive shaft slip, the torques of the front drive shaft and the rear drive shaft are reduced simultaneously. When neither the front drive shaft nor the rear drive shaft slips, the torques of the front drive shaft and the rear drive shaft are not reduced, and the front drive shaft and the rear drive shaft respond to the throttle torque respectively.

[0132] When it is determined that the motor of the drive shaft where the wheel is arranged needs to adjust the torque, the motor corresponding to the drive shaft is controlled to reduce the torque. For example, if it is determined that the left front wheel or the right front wheel is slipping but none of the wheels of the rear axles is slipping, the front axle motor reduces the torque by a value which is the corrected torque calculated for the slipping wheel, and the rear axle motor increases the torque by the corresponding value.

[0133] When it is determined that the left rear wheel or the right rear wheel is slipping while none of the wheels on the front axle is slipping, the rear axle motor reduces the torque by an amount equal to the corrected torque calculated for the slipping wheel. In one embodiment of the present disclosure, the front axle motor increases the torque by a corresponding amount.

[0134] In an embodiment of the present disclosure, torque can be transmitted from one end of low adhesion to the other end of high adhesion. That is, the torque of the motor of the drive shaft on which the slipping wheel is disposed is reduced, and the torque of the motor of the drive shaft on which the non-slipping wheel is disposed is increased. This can avoid power loss and ensure the power of the entire vehicle while suppressing slipping, thereby ensuring the power performance of the vehicle.

[0135] When it is determined that the left front wheel or the right front wheel is slipping on the front axle while the left rear wheel or the right rear wheel is slipping on the rear axle, the torque of each of the front axle motor and the rear axle motor is reduced by an amount equal to the corrected torque calculated for the slipping wheel. Otherwise, the front axle motor and the rear axle motor each respond to the throttle torque.

[0136] In one embodiment of the present disclosure, the drive shaft includes the front axle and the rear axle. Step 204 can include sub-step S23.

[0137] Step S23: When the equivalent rotational speed difference of the motor corresponding to the front axle is greater than the rotational speed difference threshold, the motor of the front axle is controlled to reduce torque based on the corrected torque value, or when the equivalent rotational speed difference of the motor corresponding to the rear axle is greater than the rotational speed difference threshold, the motor of the rear axle is controlled to reduce torque based on the corrected torque value, or when the equivalent rotational speed differences of the motors corresponding to both the front axle and the rear axle are greater than the rotational speed difference threshold, the motors of the front axle and the rear axle are controlled to reduce torque based on the corrected torque value.

[0138] In an embodiment of the present disclosure, when the equivalent rotational speed difference of the motor corresponding to the front axle is greater than the rotational speed difference threshold, the motor of the front axle being controlled to reduce torque based on the corrected torque value, or when the equivalent rotational speed difference of the motor corresponding to the rear axle is greater than the rotational speed difference threshold, the motor of the rear axle being controlled to reduce torque based on the corrected torque value can include the following:

[0139] When the equivalent rotational speed difference of the motor corresponding to the front axle is greater than the rotational speed difference threshold, the motor corresponding to the front axle is controlled to reduce the corrected torque value, and a rear axle torque increment value that can be incremented by the motor corresponding to the rear axle is determined; if the rear axle torque increment value is greater than or equal to the corrected torque value, the motor corresponding to the rear axle is controlled to increase the corrected torque value, or if the rear axle torque increment value is less than the corrected torque value, the motor corresponding to the rear axle is controlled to increase torque based on the rear axle torque increment value; or

[0140] When the equivalent rotational speed difference of the motor corresponding to the rear axle is greater than the rotational speed difference threshold value, the motor corresponding to the rear axle is controlled to reduce the corrected torque value, and the front axle torque increment value that can be incremented by the motor corresponding to the front axle is determined; if the front axle torque increment value is greater than or equal to the corrected torque value, the motor corresponding to the front axle is controlled to increase the corrected torque value, or if the front axle torque increment value is less than the corrected torque value, the motor corresponding to the front axle is controlled to increase the torque based on the front axle torque increment value.

[0141] In an embodiment of the present disclosure, when one of the two drive shafts slips, by increasing the torque of one of the drive shafts and reducing the torque of the other drive shaft, the requirement for the total torque is kept constant, the slip is suppressed or eliminated, and the power performance of the vehicle is ensured.

[0142] In an embodiment of the present disclosure, obtaining the corrected torque value includes the following:

[0143] The corrected left wheel torque value corresponding to the left wheel connected to the drive shaft is obtained, and the corrected right wheel torque value corresponding to the right wheel connected to the drive shaft is obtained. The magnitudes of the corrected left wheel torque value and the corrected right wheel torque value are determined, and the larger value is taken as the corrected torque value, thereby suppressing or eliminating slipping better.

[0144] In an embodiment of the present disclosure, when both wheels corresponding to the drive shaft are likely to slip, the corrected wheel torque values of both wheels can be obtained, and the larger one is used as the corrected torque value to adjust the torque of the motor of the drive shaft corresponding to the wheel. For example, when both the left front wheel and the right front wheel are slipping, the corrected torque value of the left front wheel is 30 N * m, and the corrected torque value of the right front wheel is 40 N *It is m. In this case, the corrected torque value of the motor on the front axle is 40 N * It is m.

[0145] In one embodiment of the present disclosure, the output torque of the motor corresponding to the drive shaft being adjusted based on the corrected torque value can include the following:

[0146] A torque lower limit value is determined.

[0147] After the corrected torque value is reduced, if the current output torque of the motor corresponding to the drive shaft is below the torque lower limit value, the output torque of the motor corresponding to the drive shaft is controlled to be the torque lower limit value.

[0148] Specifically, the slip state of each wheel may be classified into significant slip and moderate slip. Under different slip states, the lower limit value of the output torque of the motor corresponding to the drive shaft is different. For example, in the case of moderate slip, the lower limit value is 0. In the case of significant slip, the output torque of the motor corresponding to the drive shaft may not be able to balance the equivalent rotational speed difference after being reduced to 0. In this case, the output torque needs to continue to be reduced to the physical limit value of motor reverse rotation. According to the present disclosure, the torque lower limit value can be self - adaptive based on the degree of slip of the vehicle, so that during significant slip of the vehicle, the torque can be simply adjusted to 0, but cases where the equivalent rotational speed difference of the motor on the drive shaft corresponding to the slipping wheel is not sufficiently adjusted are avoided. This improves the efficiency of torque adjustment of the motor on the drive shaft corresponding to the slipping wheel.

[0149] In one embodiment of the present disclosure, the determination of the torque lower limit value can include the following:

[0150] When the equivalent rotational speed difference of the motor corresponding to the drive shaft is greater than the first rotational speed difference threshold value and less than the second rotational speed difference threshold value, the lower torque limit value is determined to be 0. The second rotational speed difference threshold value is greater than the first rotational speed difference threshold value.

[0151] When the equivalent rotational speed difference of the motor corresponding to the drive shaft is greater than the second rotational speed difference threshold value, the lower torque limit value is determined as the torque limit value for motor reverse rotation.

[0152] For the sake of simplicity, the embodiments of the method are expressed as a combination of a series of operations. However, according to the embodiments of the present disclosure, specific steps can be executed in other sequences or simultaneously. Therefore, those skilled in the art should note that the embodiments of the present disclosure are not limited by the sequence of operations described. Also, those skilled in the art should note that the embodiments described herein are preferred embodiments, and the operations involved are not necessarily required for the embodiments of the present disclosure.

[0153] FIG. 6 shows a vehicle torque control device according to the present disclosure, and this device includes the following:

[0154] An information acquisition module 301 configured to acquire the wheel speed of the wheel corresponding to the vehicle drive shaft and acquire the actual rotational speed of the motor corresponding to the drive shaft;

[0155] A calculation module 302 configured to calculate the equivalent rotational speed of the motor based on the wheel speed of the wheel and calculate the equivalent rotational speed difference of the motor of the drive shaft where the wheel is disposed based on the equivalent rotational speed of the motor and the actual rotational speed of the motor corresponding to the drive shaft;

[0156] A determination module 303 configured to acquire a corrected torque value based on the equivalent rotational speed difference of the motor of the drive shaft where the wheel is disposed;

[0157] A control module 304 configured to adjust the output torque of a motor corresponding to a drive shaft based on a corrected torque value.

[0158] In an optional embodiment, the calculation module 302 can include the following:

[0159] An equivalent rotational speed difference calculation sub-module configured to calculate the difference between the equivalent rotational speed of a motor and the actual rotational speed of the motor corresponding to the drive shaft to obtain the equivalent rotational speed difference of the motor of the drive shaft where the wheel is disposed.

[0160] In an optional embodiment, the determination module 303 can include the following:

[0161] A first determination sub-module configured to obtain a corrected torque value when the equivalent rotational speed difference of the motor of the drive shaft where the wheel is disposed is greater than a rotational speed difference threshold value.

[0162] In an optional embodiment, the determination module 303 can include the following:

[0163] A second determination sub-module configured to obtain the wheel acceleration change rate of the wheel; and

[0164] A third determination sub-module configured to obtain a corrected torque value when the equivalent rotational speed difference of the motor of the drive shaft where the wheel is disposed is greater than a rotational speed difference threshold value and the wheel acceleration change rate is greater than a wheel acceleration change rate threshold value.

[0165] In an optional embodiment, the control module 304 can include the following:

[0166] A first adjustment sub-module configured to control a motor corresponding to a drive shaft to reduce torque based on a corrected torque value.

[0167] In an optional embodiment, the drive shaft includes a front axle and a rear axle, and the first adjustment sub-module can include the following:

[0168] When the equivalent rotational speed difference of the motor corresponding to the front axle is greater than the rotational speed difference threshold value, controlling the motor of the front axle to reduce torque based on the corrected torque value, or

[0169] When the equivalent rotational speed difference of the motor corresponding to the rear axle is greater than the rotational speed difference threshold value, controlling the motor of the rear axle to reduce torque based on the corrected torque value, or

[0170] When the equivalent rotational speed differences of the motors corresponding to both the front axle and the rear axle are greater than the rotational speed difference threshold value, controlling the motors of the front axle and the rear axle to reduce torque based on the corrected torque value, a first adjustment unit configured to perform the above.

[0171] In an optional embodiment, the first adjustment unit can include the following:

[0172] When the equivalent rotational speed difference of the motor corresponding to the front axle is greater than the rotational speed difference threshold value, controlling the motor corresponding to the front axle to reduce the corrected torque value, and determining a rear axle torque increment value that can be incremented by the motor corresponding to the rear axle; and if the rear axle torque increment value is greater than or equal to the corrected torque value, controlling the motor corresponding to the rear axle to increase the corrected torque value, or if the rear axle torque increment value is less than the corrected torque value, controlling the motor corresponding to the rear axle to increase torque based on the rear axle torque increment value, a first adjustment sub-unit configured to perform the above; and

[0173] When the equivalent rotational speed difference of the motor corresponding to the rear axle is greater than the rotational speed difference threshold value, control the motor corresponding to the rear axle to reduce the corrected torque value, and determine the front axle torque increment value that can be incremented by the motor corresponding to the front axle; and, if the front axle torque increment value is greater than or equal to the corrected torque value, control the motor corresponding to the front axle to increase the corrected torque value, or if the front axle torque increment value is less than the corrected torque value, control the motor corresponding to the front axle to increase the torque based on the front axle torque increment value. A second adjustment subunit configured to perform the above.

[0174] In an optional embodiment, the calculation module 302 can include the following:

[0175] A gear ratio acquisition sub-module configured to acquire the gear ratio of the wheel with respect to the motor corresponding to the drive shaft; and

[0176] An equivalent rotational speed calculation sub-module configured to calculate the equivalent rotational speed of the motor based on the wheel speed of the wheel and the corresponding gear ratio.

[0177] In an optional embodiment, the determination module 303 can include the following:

[0178] A fourth determination sub-module configured to calculate the corresponding corrected torque value based on the following formula:

[0179] ΔT fl =k 1 *Δω fl +k 2 *(Δω fl -D 1 )), where k 1 and k 2 are the proportional coefficient and the differential coefficient, respectively, which can be obtained by looking up a table, and D 1 is the equivalent rotational speed difference of the motor corresponding to the drive shaft at the previous sampling time, and Δω flis the equivalent rotational speed difference of the motor corresponding to the drive shaft at the current time, and ΔT fl is the corrected torque value.

[0180] In an optional embodiment, the determination module 303 can include the following:

[0181] A sub-module for obtaining a corrected left-wheel torque value corresponding to the left wheel connected to the drive shaft and a corrected right-wheel torque value corresponding to the right wheel connected to the drive shaft, configured to obtain the corrected wheel torque value; and

[0182] A fifth determination sub-module configured to determine the magnitudes of the corrected left-wheel torque value and the corrected right-wheel torque value and set the larger value as the corrected torque value.

[0183] In an optional embodiment, the control module 304 can include the following:

[0184] A torque lower limit value determination sub-module configured to determine the torque lower limit value; and

[0185] A second adjustment sub-module configured to control the output torque of the motor corresponding to the drive shaft to be the torque lower limit value when the current output torque of the motor corresponding to the drive shaft is below the torque lower limit value after the corrected torque value is reduced.

[0186] In an optional embodiment, the torque lower limit value determination sub-module can include the following:

[0187] A first torque lower limit determination unit configured to determine that the torque lower limit value is 0 when the equivalent rotational speed difference of the motor corresponding to the drive shaft is greater than a first rotational speed difference threshold and less than a second rotational speed difference threshold, wherein the second rotational speed difference threshold is greater than the first rotational speed difference threshold; and

[0188] A second torque lower limit determination unit configured to determine the torque lower limit value as the torque limit value for motor reverse rotation when the equivalent rotational speed difference of the motor corresponding to the drive shaft is greater than the second rotational speed difference threshold.

[0189] In another aspect, an embodiment of the present disclosure discloses a computer-readable storage medium. The computer-readable storage medium stores a computer program. The steps of the vehicle torque control method described above are performed when the computer program is executed by a processor.

[0190] In another aspect, an embodiment of the present disclosure discloses an electronic device including a processor, a memory, and a computer program stored in the memory and executable on the processor. The steps of the vehicle torque control method described above are performed when the computer program is executed by the processor.

[0191] In another aspect, an embodiment of the present disclosure discloses a vehicle. The vehicle includes a front motor, a rear motor, and a controller. The controller is configured to perform the steps of the vehicle torque control method described above.

[0192] The device embodiments are substantially similar to the method embodiments, so the description is relatively brief. For related parts, please refer to the description of the method embodiments.

[0193] In this specification, the embodiments are described in a progressive manner, and the description of each embodiment focuses on the differences from other embodiments. For the same and similar parts of the embodiments, mutual reference may be made.

[0194] Those skilled in the art should understand that the embodiments of the present disclosure can be provided as a method, an apparatus, or a computer program product. Therefore, the present disclosure can adopt the form of an embodiment only of hardware, an embodiment only of software, or an embodiment in which software and hardware are combined. In addition, the embodiments of the present disclosure can be in the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memory, CD-ROM, and optical memory) containing computer-usable program code.

[0195] The embodiments of the present disclosure are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products in the embodiments of the present disclosure. It should be understood that the computer program instructions can implement each process and / or block in the flowchart and / or block diagram, as well as combinations of processes and / or blocks in the flowchart and / or block diagram. These computer program instructions are provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device, and the instructions executed by the processor of the computer or other programmable data processing terminal device are used to create a machine configured to implement the functions specified in one or more processes of the flowchart and / or one or more blocks of the block diagram.

[0196] These computer program instructions may alternatively be stored in a computer-readable memory, where the instructions stored in the computer-readable memory are used to manufacture a product including an instruction device, and the instruction device causes a computer or other programmable data processing terminal device to operate in a specific manner so as to implement the functions specified in one or more processes of the flowchart and / or one or more blocks of the block diagram.

[0197] These computer program instructions may alternatively be loaded onto a computer or other programmable data processing terminal device so that a series of operational steps are executed on the computer or other programmable terminal device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable terminal device are used to provide steps for implementing the functions specified in one or more processes of the flowchart and / or one or more blocks of the block diagram.

[0198] Although the preferred embodiments in the embodiments of the present disclosure have been described, additional changes and modifications may be made by those skilled in the art if the basic inventive concept is known. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications that fall within the scope of the embodiments of the present disclosure.

[0199] Finally, it should be noted that in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another without necessarily requiring or implying any actual such relationship or order between such entities or operations. Moreover, the terms "include", "comprise" or other variations thereof are intended to cover non-exclusive inclusion such that a process, method, article or terminal device that includes a series of elements includes not only those elements but also elements not expressly listed or elements inherent in this process, method, article or terminal device. Without further limitation, an element defined by a statement "comprising ~" does not preclude the presence of other identical elements in the process, method, article or terminal device that includes that element.

[0200] The method and apparatus for vehicle torque control, electronic device, and storage medium according to the present disclosure are described in detail above. The principles and implementation forms of the present disclosure are described by applying specific examples in this specification, but the description of the above embodiments is only intended to help understand the core ideas of the methods and methods according to the present disclosure. In addition, for those skilled in the art, changes may be made to the specific implementation forms and application scopes based on the idea of the present disclosure. In short, the content of this specification should not be construed as a limitation to the present disclosure.

Claims

1. Obtaining the wheel speed of a wheel corresponding to a vehicle drive shaft and calculating an equivalent rotational speed of a motor based on the wheel speed of the wheel; Obtaining an actual rotational speed of the motor corresponding to the drive shaft, and calculating an equivalent rotational speed difference of the motor of the drive shaft on which the wheel is disposed based on the equivalent rotational speed of the motor and the actual rotational speed of the motor corresponding to the drive shaft; Obtaining a corrected torque value based on the equivalent rotational speed difference of the motor of the drive shaft on which the wheel is disposed; Adjusting an output torque of the motor corresponding to the drive shaft based on the corrected torque value A vehicle torque control method comprising the above.

2. Calculating the equivalent rotational speed difference of the motor of the drive shaft on which the wheel is disposed based on the equivalent rotational speed of the motor and the actual rotational speed of the motor corresponding to the drive shaft, which is Calculating a difference between the equivalent rotational speed of the motor and the actual rotational speed of the motor corresponding to the drive shaft to obtain the equivalent rotational speed difference of the motor of the drive shaft on which the wheel is disposed The method according to claim 1, comprising the above.

3. Obtaining the corrected torque value based on the equivalent rotational speed difference of the motor of the drive shaft on which the wheel is disposed, which is When the equivalent rotational speed difference of the motor of the drive shaft on which the wheel is disposed is greater than a rotational speed difference threshold value, obtaining the corrected torque value The method according to claim 1 or 2, comprising the above.

4. Obtaining the corrected torque value based on the equivalent rotational speed difference of the motor of the drive shaft on which the wheel is disposed, which is Obtaining a rate of change of wheel acceleration of the wheel; When the equivalent rotational speed difference of the motor of the drive shaft on which the wheel is disposed is greater than the rotational speed difference threshold value and the rate of change of wheel acceleration of the wheel is greater than a rate of change of wheel acceleration threshold value, obtaining the corrected torque value The method according to any one of claims 1 to 3, comprising the above.

5. Adjusting the output torque of the motor corresponding to the drive shaft based on the corrected torque value; Controlling the motor corresponding to the drive shaft to reduce the torque based on the corrected torque value; The method according to any one of claims 1 to 4, comprising:

6. The drive shaft includes a front axle and a rear axle; Controlling the motor corresponding to the drive shaft to reduce the torque based on the corrected torque value; When the equivalent rotational speed difference of the motor corresponding to the front axle is greater than the rotational speed difference threshold, controlling the motor of the front axle to reduce the torque based on the corrected torque value, or When the equivalent rotational speed difference of the motor corresponding to the rear axle is greater than the rotational speed difference threshold, controlling the motor of the rear axle to reduce the torque based on the corrected torque value, or When the equivalent rotational speed differences of the motors corresponding to both the front axle and the rear axle are greater than the rotational speed difference threshold, controlling the motors of the front axle and the rear axle to reduce the torque based on the corrected torque value; The method according to claim 5, comprising:

7. When the equivalent rotational speed difference of the motor corresponding to the front axle is greater than the rotational speed difference threshold, controlling the motor of the front axle to reduce the torque based on the corrected torque value, or when the equivalent rotational speed difference of the motor corresponding to the rear axle is greater than the rotational speed difference threshold, controlling the motor of the rear axle to reduce the torque based on the corrected torque value; When the equivalent rotational speed difference of the motor corresponding to the front axle is greater than the rotational speed difference threshold, controlling the motor corresponding to the front axle to reduce the corrected torque value, and determining a rear axle torque increment value that can be incremented by the motor corresponding to the rear axle; and if the rear axle torque increment value is greater than or equal to the corrected torque value, controlling the motor corresponding to the rear axle to increase the corrected torque value, or if the rear axle torque increment value is less than the corrected torque value, controlling the motor corresponding to the rear axle to increase the torque based on the rear axle torque increment value; or When the equivalent rotational speed difference of the motor corresponding to the rear axle is greater than the rotational speed difference threshold value, control the motor corresponding to the rear axle so as to reduce the corrected torque value, and determine a front axle torque increment value that can be incremented by the motor corresponding to the front axle; and, if the front axle torque increment value is greater than or equal to the corrected torque value, control the motor corresponding to the front axle so as to increase the corrected torque value, or if the front axle torque increment value is less than the corrected torque value, control the motor corresponding to the front axle so as to increase the torque based on the front axle torque increment value The method according to claim 6, comprising the above.

8. Calculating the equivalent rotational speed of the motor based on the wheel speed of the wheel is Obtaining the gear ratio of the wheel with respect to the motor corresponding to the drive shaft Calculating the equivalent rotational speed of the motor based on the wheel speed of the wheel and the corresponding gear ratio of the wheel The method according to any one of claims 1 to 7, comprising the above.

9. Obtaining the corrected torque value is the method according to any one of claims 1 to 8, comprising the following: Calculating the corresponding corrected torque value based on the following formula: ΔT ｆｌ = k １ *Δω ｆｌ + k ２ * (Δω ｆｌ - D １ ), where k １ and k ２ are the proportionality coefficient and the difference coefficient, respectively, D １ is the equivalent rotational speed difference of the motor corresponding to the drive shaft at the previous sampling time, Δω ｆｌ is the equivalent rotational speed difference of the motor corresponding to the drive shaft at the current time, and ΔT ｆｌ is the corrected torque value.

10. Obtaining the corrected torque value is Obtaining a corrected left wheel torque value corresponding to the left wheel connected to the drive shaft, and obtaining a corrected right wheel torque value corresponding to the right wheel connected to the drive shaft, and Determining the magnitudes of the corrected left wheel torque value and the corrected right wheel torque value, and setting the larger value as the corrected torque value The method according to any one of claims 1 to 9, comprising the above.

11. Adjusting the output torque of the motor corresponding to the drive shaft based on the corrected torque value is Determining a torque lower limit value After the corrected torque value is reduced, if the current output torque of the motor corresponding to the drive shaft is less than or equal to the torque lower limit value, controlling the output torque of the motor corresponding to the drive shaft to be the torque lower limit value The method according to any one of claims 1 to 10, comprising

12. Determining the lower torque limit value wherein when the equivalent rotational speed difference of the motor corresponding to the drive shaft is greater than a first rotational speed difference threshold value and less than a second rotational speed difference threshold value, determining that the lower torque limit value is 0, the second rotational speed difference threshold value being greater than the first rotational speed difference threshold value, determining that the lower torque limit value is 0, and when the equivalent rotational speed difference of the motor corresponding to the drive shaft is greater than the second rotational speed difference threshold value, determining the lower torque limit value as the torque limit value for motor reverse rotation The method according to claim 11, comprising

13. An information acquisition module configured to acquire the wheel speed of a wheel corresponding to a vehicle drive shaft and to acquire the actual rotational speed of a motor corresponding to the drive shaft, a calculation module configured to calculate the equivalent rotational speed of the motor based on the wheel speed of the wheel and to calculate the equivalent rotational speed difference of the motor of the drive shaft on which the wheel is disposed based on the equivalent rotational speed of the motor and the actual rotational speed of the motor corresponding to the drive shaft, a determination module configured to acquire a corrected torque value based on the equivalent rotational speed difference of the motor of the drive shaft on which the wheel is disposed, and a control module configured to adjust the output torque of the motor corresponding to the drive shaft based on the corrected torque value A vehicle torque control device, comprising

14. An electronic device comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, the steps of the vehicle torque control method according to any one of claims 1 to 12 are performed.

15. A computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the steps of the vehicle torque control method according to any one of claims 1 to 12 are performed.

16. A vehicle comprising a front motor, a rear motor, and a controller, wherein the controller is configured to perform the steps of the vehicle torque control method according to each of claims 1 to 12.

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