Vehicle Torque Control Method and Device, as well as Electronic Device and Storage Medium

Abstract

Vehicle torque control method. The method comprises step 101 (acquiring vehicle driving parameters), step 102 (determining a torque adjustment value for the driving shaft of the vehicle according to the vehicle driving parameters), and step 103 (adjusting the torque of the driving shaft of the vehicle according to the torque adjustment value), wherein the vehicle driving parameters include the wheel rotation speeds at both ends of the driving shaft of the vehicle. Further, a vehicle torque control device, a vehicle and a storage medium are disclosed. The torque adjustment value for each driving shaft of the vehicle is determined by the wheel rotation speeds at both ends of the driving shaft of the vehicle, and torque adjustment is performed on all the driving shafts of the vehicle, as a result of which the torque adjustment becomes more comprehensive, the torques of the driving shafts are adjusted in association, and as a result, while the slip state of the vehicle is eliminated, the required power of the vehicle can be achieved, and thus, the movement performance of the entire vehicle is improved.

Description

Technical Field

[0001] Cross - reference to Related Applications This disclosure claims priority to Chinese Patent Application No. 202210551581.2, titled "VEHICLE TORQUE CONTROL METHOD AND APPARATUS, ELECTRONIC DEVICE AND STORAGE MEDIUM", filed on May 20, 2022 by BYD Co., Ltd.

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

Background Art

[0003] During vehicle driving, the vehicle may encounter situations such as turning to get out of a dead end. In these situations, the torque of the vehicle often needs to be controlled so that the vehicle can drive safely and smoothly. However, currently, the situation recognition is often limited to a certain specific vehicle speed range, resulting in poor torque control conditions, and it is impossible to control the torque in the entire speed range.

Summary of the Invention

Problems to be Solved by the Invention

[0004] This disclosure is intended to solve at least to some extent one of the technical problems in the related art.

Means for Solving the Problems

[0005] Therefore, this disclosure provides a vehicle torque control method, a vehicle torque control apparatus, an electronic device, and a storage medium.

[0006] The vehicle torque control method according to this disclosure includes the following:

[0007] Vehicle driving parameters are acquired.

[0008] The torque adjustment value of the drive shaft of the vehicle is determined based on vehicle drive parameters.

[0009] The torque of the drive shaft of the vehicle is adjusted based on the torque adjustment value.

[0010] The vehicle drive parameters include the wheel rotation speeds of the wheels at both ends of the drive shaft of the vehicle.

[0011] Therefore, the torque adjustment value of each drive shaft of the vehicle is determined by the wheel rotation speeds of the wheels at both ends of the drive shaft of the vehicle, and torque adjustment is performed on each of the drive shafts of the vehicle, as a result, the torque adjustment becomes more comprehensive. The torques of the drive shafts are adjusted in association with each other, and as a result, while the slip state of the vehicle is eliminated, the required power of the vehicle can be achieved, and therefore, the motion performance of the entire vehicle is improved.

[0012] The present disclosure further provides a vehicle torque control device.

[0013] The present disclosure further provides an electronic device.

[0014] The present disclosure further provides a computer-readable storage medium.

[0015] The present disclosure further provides a vehicle.

[0016] Some additional aspects and advantages of the present disclosure are described in the following description, some will become apparent from the following description, or will be learned by the practice of the present disclosure.

Brief Description of the Drawings

[0017]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Embodiments for Carrying Out the Invention

[0018] Embodiments of the present disclosure are described in detail below, and examples of the embodiments are shown in the accompanying drawings. In that case, elements having the same or similar elements or the same or similar functions are represented by the same or similar reference numerals throughout the description. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to illustrate the present disclosure and should not be construed as a limitation to the present disclosure.

[0019] FIG. 1 is a flowchart of steps of a vehicle torque control method according to an embodiment of the present disclosure, which may specifically include the following steps.

[0020] Step 101: Vehicle drive parameters are acquired. The vehicle drive parameters include the wheel rotation speeds of the wheels at both ends of the vehicle's drive shaft.

[0021] In the embodiments of the present disclosure, various sensors such as a wheel speed sensor for detecting the wheel rotation speed, a resolver sensor for detecting the rotation speed of the motor, a rotation angle sensor for detecting the rotation angle of the steering wheel, a vehicle speed sensor for detecting the vehicle speed, and a yaw rate sensor for detecting the yaw rate of the vehicle are mounted on the vehicle.

[0022] After the vehicle is powered, signals sent by various sensors including a wheel speed sensor are read to obtain vehicle drive parameters. The vehicle drive parameters at least include the wheel rotation speeds of the wheels at both ends of the vehicle's drive shaft. Step 102: A torque adjustment value of the vehicle's drive shaft is determined based on the vehicle drive parameters.

[0023] After the corresponding vehicle drive parameters are obtained, the driving conditions of the vehicle are determined based on the vehicle drive parameters, and the torque adjustment value of the vehicle's drive shaft is calculated based on the vehicle drive parameters. For example, when the vehicle includes a front axle and a rear axle, which are two drive shafts of the vehicle, the torque adjustment value corresponding to the front axle and the torque adjustment value corresponding to the rear axle are calculated.

[0024] Step 103: The torque of the vehicle's drive shaft is adjusted based on the torque adjustment value.

[0025] Different adjustment policies are determined based on the torque adjustment values corresponding to different drive shafts of the vehicle, and each of the drive shafts of the entire vehicle is adjusted accordingly based on the adjustment policy.

[0026] In an embodiment of the present disclosure, vehicle drive parameters are acquired. A torque adjustment value of a drive shaft of the vehicle is determined based on the vehicle drive parameters. The torque of the drive shaft of the vehicle is adjusted based on the torque adjustment value. The vehicle drive parameters include the wheel rotation speeds of the wheels at both ends of the drive shaft of the vehicle. The torque adjustment value of each drive shaft of the vehicle is determined by the wheel rotation speeds of the wheels at both ends of the drive shaft of the vehicle, and the torque adjustment in the drive shaft is not limited to a fixed vehicle drive speed range, and the torque of the drive shaft can be adjusted in the entire speed range, and as a result, the control conditions of the torque control become more comprehensive. The torque adjustment of the drive shaft is not limited to only the adjustment of a single drive shaft. By adjusting each of the drive shafts of the vehicle, the torque of the drive shaft is adjusted more comprehensively, and double-shaft closed-loop control is implemented, thereby avoiding power consumption, and as a result, the slip control of the vehicle can be implemented in the entire range of the area.

[0027] FIG. 2 is a flowchart of steps of a vehicle torque control method according to an embodiment of the present disclosure, which may specifically include the following steps.

[0028] Step 201: Vehicle drive parameters are acquired. The vehicle drive parameters include the wheel rotation speeds of the wheels at both ends of the drive shaft of the vehicle.

[0029] In practical applications, a wheel speed sensor, a motor resolver sensor, a rotation angle sensor, and a yaw rate sensor may be mounted on the vehicle. The rotation speed of the drive motor can be acquired by the motor resolver sensor. The rotation speeds ωfl, ωfr, ωrl, and ωrr of the four wheels are acquired by the wheel speed sensors of the four wheels. The rotation angle δ of the steering wheel is acquired by the rotation angle sensor. The yaw rate of the vehicle is acquired by the yaw rate sensor.

[0030] Step 202: The torque adjustment value of the vehicle's drive shaft is determined based on vehicle drive parameters. The torque adjustment value includes a first torque adjustment amount and a second torque adjustment amount.

[0031] After the vehicle drive parameters are obtained, the operating conditions of the vehicle can be determined by the vehicle drive parameters based on the theoretical model of the vehicle, and the torque adjustment value of the vehicle's drive shaft can be determined based on the operating conditions. Specifically, the torque adjustment value may include a first torque adjustment amount and a second torque adjustment amount. It should be noted that the first torque adjustment amount is the torque adjustment amount determined based on the wheel speed difference between the wheels at both ends of the vehicle's drive shaft, and the second torque adjustment amount is the torque adjustment amount determined based on the yaw rate during vehicle turning. The adjustment is performed based on different parameters so that the slip of the vehicle can be better controlled.

[0032] The determination of the torque adjustment value of the vehicle's drive shaft based on vehicle drive parameters includes the following:

[0033] Sub-step S2021: The rotational speed ratio between wheels is calculated based on the wheel rotational speeds.

[0034] In an embodiment of the present disclosure, the rotational speed ratio between the wheels on both sides of the same drive shaft is calculated based on the corresponding wheel rotational speeds of the wheels on both sides of the same drive shaft. The rotational speed ratio between wheels can be calculated using the wheel rotational speed of one side as the numerator and the wheel rotational speed of the other side as the denominator.

[0035] In one embodiment, under the turning condition of the vehicle, the wheel rotational speeds include a high-rotating wheel speed and a low-rotating wheel speed. The calculation of the rotational speed ratio between wheels based on the wheel rotational speeds includes the following:

[0036] An equivalent high wheel speed corresponding to a high wheel rotation speed is calculated, and an equivalent low wheel speed corresponding to a low wheel rotation speed is calculated.

[0037] The equivalent high wheel speed is divided by the equivalent low wheel speed to generate a wheel rotation speed ratio.

[0038] Of course, the equivalent low wheel speed may be divided by the equivalent high wheel speed.

[0039] In practical applications, the equivalent wheel speed can be calculated by the vehicle steering model and the yaw rate, that is, the equivalent wheel speed is the rotation speed of the wheels in the driving direction of the vehicle where the influence of the steering factor has not been removed. The vehicle steering model is used to convert the high wheel rotation speed and the low wheel rotation speed obtained from the signals of the wheel speed sensors to calculate the equivalent high wheel speed corresponding to the high wheel rotation speed and the equivalent low wheel speed corresponding to the low wheel rotation speed.

[0040] Figure 3 is a schematic diagram of a vehicle steering model according to the present disclosure. The equivalent wheel speeds of the four wheels are calculated based on the following formula:

[0041] Using the inner rear wheel as the reference wheel,

[0042] Equivalent coefficient of the outer rear wheel: f Ro =(R + W / 2) / (R - W / 2) + Fac Ro

[0043] Equivalent coefficient of the inner front wheel:

Number

[0044] Equivalent coefficient of the outer front wheel:

Number

[0045] wherein, the turning radius of the vehicle is R = V x 2 / a y Fac R and Fac R is the turning radius correction coefficient, and Fac Ro is the correction coefficient of the outer wheel of the rear wheels, and Fac FI is the correction coefficient of the inner wheel of the front wheels, and Fac FO is the correction coefficient of the outer wheel of the front wheels, W is the track width between the left and right wheels, L is the wheelbase of the front and rear wheel axles, V x is the vehicle speed, and a y is the lateral acceleration.

[0046] The yaw rate is defined as positive in the counterclockwise rotation around the Z-axis of the vehicle coordinate system.

[0047] When the yaw rate is 0, the equivalent wheel speed of each wheel is equal to the wheel speed of the wheel.

[0048] When the yaw rate is greater than 0, the left rear wheel is the inner wheel of the rear wheels and is defined as the reference wheel. When the yaw rate is less than 0, the right rear wheel is the inner wheel of the rear wheels and is defined as the reference wheel. The equivalent wheel speed of the reference wheel is equal to the actual wheel speed, and the equivalent wheel speed of each of the remaining wheels is the actual wheel speed divided by the equivalent coefficient. The average of the equivalent wheel speeds of both wheels of the same axle is used as the equivalent axle speed of this axle.

[0049] After the equivalent high-rotation wheel speed and the equivalent low-rotation wheel speed, the equivalent high wheel speed is divided by the equivalent low wheel speed to generate a wheel-to-wheel rotation speed ratio. Specifically, when the equivalent wheel speed of the front left wheel is greater than the equivalent wheel speed of the front right wheel, the wheel-to-wheel rotation speed ratio of the front axle is the equivalent wheel speed of the front left wheel divided by the equivalent wheel speed of the front right wheel, or when the equivalent wheel speed of the front left wheel is less than the equivalent wheel speed of the front right wheel, the wheel-to-wheel rotation speed ratio of the front axle is the equivalent wheel speed of the front right wheel divided by the equivalent wheel speed of the front left wheel.

[0050] When the equivalent wheel speed of the rear left wheel is greater than the equivalent wheel speed of the rear right wheel, the wheel-to-wheel rotation speed ratio of the rear axle is the equivalent wheel speed of the rear left wheel divided by the equivalent wheel speed of the rear right wheel, or when the equivalent wheel speed of the rear left wheel is less than the equivalent wheel speed of the rear right wheel, the wheel-to-wheel rotation speed ratio of the rear axle is the equivalent wheel speed of the rear right wheel divided by the equivalent wheel speed of the rear left wheel.

[0051] Step S2022: The first torque adjustment amount is calculated when the wheel-to-wheel rotation speed ratio is greater than a preset first threshold.

[0052] After the wheel-to-wheel rotation speed ratio is calculated, it is compared with a preset first threshold. When the wheel-to-wheel rotation speed ratio is greater than the preset first threshold, it is determined that there is a large wheel speed difference between the left and right wheels of the vehicle, and it is determined that the current drive shaft is in a slip state. An initial corresponding first torque adjustment amount is calculated. When the front axle is in a slip state, the first torque adjustment amount is calculated from the wheel-to-wheel rotation speed ratio of the front axle and defined as the front axle torque adjustment amount. When the rear axle is in a slip state, the first torque adjustment amount is calculated from the wheel-to-wheel rotation speed ratio of the rear axle and defined as the rear axle torque adjustment amount. The first threshold can be changed according to the vehicle speed. The range of the reference value of the first threshold is the closed interval [1.1, 1.2].

[0053] In one embodiment, the first torque adjustment amount can be generated based on a preset torque formula.

[0054] In practical applications, the preset torque formula may be a formula for calculating torque based on the moment of inertia.

[0055] Specifically, the moment of inertia of the vehicle, J = mr 2 may be calculated first,

[0056] where m is the mass of the wheel, r is the rolling radius of the wheel, and J is the moment of inertia of the vehicle.

[0057] After the moment of inertia is calculated, the first torque adjustment amount is calculated based on the torque formula:

Equation

[0058] where k represents the current cycle, J represents the moment of inertia of the wheel, ω 2 represents the absolute value of the wheel speed difference between the left and right wheels of the front axle or rear axle, A is a proportionality coefficient, B is an integral coefficient, C is a differential coefficient, e k represents the difference in ω 2 at different cycles, and Δu(k) represents the increment of the first torque adjustment amount.

[0059] In one embodiment, the vehicle drive parameters further include the vehicle speed, the rotation angle of the steering wheel, and the current yaw rate. The torque adjustment value further includes a second torque adjustment amount. The determination of the torque adjustment value of the vehicle drive shaft based on the vehicle drive parameters further includes the following:

[0060] Sub-step S2023: An ideal yaw rate is determined based on the rotation angle of the steering wheel and the vehicle speed.

[0061] In an embodiment of the present disclosure, based on a two-degree-of-freedom motion model of a vehicle, an ideal yaw rate of the vehicle in the current driving state can be calculated based on the rotation angle of the steering wheel obtained from a rotation angle sensor and the vehicle speed. FIG. 4 is a schematic diagram of a two-degree-of-freedom motion model of a vehicle according to the present disclosure. The equation for calculating the associated rotation angle of the steering wheel is as follows:

Number

[0062] where δ is the rotation angle of the steering wheel, l f is the distance between the center of mass of the vehicle and the front wheel axle, l r is the distance between the center of mass of the vehicle and the rear wheel axle, R is the steering radius of the vehicle, a y is the lateral acceleration of the vehicle, m is the total mass of the vehicle, C af is the cornering stiffness of the front wheels, C ar is the cornering stiffness of the rear wheels, v x is the vehicle speed, K v is the stability.

[0063] The turning radius of the vehicle can be expressed as a function of the rotation angle of the steering wheel:

Number

[0064] The target yaw rate is

Number

[0065] Combining the above two equations gives

Number

[0066] The lateral acceleration at the center of mass is

Number

[0067] where ω is the yaw rate of the vehicle, a is the distance between the center of mass and the front axle, b is the distance between the center of mass and the rear axle, and y is the physical component associated with the sideslip angle of the center of mass.

[0068]

Number

[0069] the lateral acceleration can be related to the actual yaw rate and the sideslip angle of the center of mass as follows:

Number

[0070] where β is the sideslip angle of the center of mass.

[0071] The lateral acceleration may be limited by the road surface friction coefficient: a y ≤ μg

[0072] where μ is the road surface friction coefficient and g is the gravitational acceleration.

[0073] When it is assumed that the sideslip angle and its derivative of the center of mass of the vehicle are very small, the second and third terms in the solution formula of a y only account for a small part of the total lateral acceleration. At that time, the upper limit of the yaw rate is

Number

[0074] where the coefficient 0.85 is an empirical value that enables the second and third terms in the solution formula of a y to account for 15% of the lateral acceleration. X represents the displacement of the vehicle.

[0075] Therefore, an ideal yaw rate can be obtained.

Number

[0076] Sub-step S2024: A second torque adjustment amount is calculated based on the ideal yaw rate and the current yaw rate.

[0077] The ideal yaw rate is compared with the current yaw rate to obtain a deviation, and the second torque adjustment amount is calculated based on the deviation.

[0078] Specifically, the calculation of the second torque adjustment amount based on the ideal yaw rate and the current yaw rate includes the following:

[0079] The difference in yaw rate between the current yaw rate and the ideal yaw rate is calculated. When the absolute value of the yaw rate difference is greater than a preset second threshold, the second torque adjustment amount is calculated based on the absolute value of the yaw rate difference.

[0080] In the present embodiment of the present disclosure, the yaw rate difference is obtained by subtracting the ideal yaw rate from the current yaw rate, and the absolute value of the yaw rate difference is determined. The absolute value of the yaw rate difference is compared with a preset second threshold. When the absolute value of the yaw rate difference is greater than the preset second threshold, it is determined that the vehicle is in a slip state, and the second torque adjustment amount is calculated based on the absolute value of the yaw rate difference. The range of the reference value of the second threshold is in the range from 0.05 rad / s to 0.1 rad / s.

[0081] Specifically, the second torque adjustment amount corresponding to the absolute value of the yaw rate difference may be calculated based on the formula of proportional-integral control (PI control).

[0082] The formula of PI control is as follows: ΔT = k 1 d 3 + k 2 (d 3 - d 3i )

[0083] where ΔT is the torque adjustment amount, k 1 and k 2 are calibration amounts set based on the required amount, d 3 is the difference in yaw rate, d 3i is the previous d 3 is represented. In actual application, the difference in yaw rate is first calculated: d 3 = ω real - ω tar

[0084] where ω real is the actual yaw rate measured by the sensor.

[0085] The absolute value of the difference in yaw rate is input to the PI control to obtain a second torque adjustment amount. When the difference in yaw rate is less than 0, it is determined that the second torque adjustment amount is the torque transmitted from the front axle to the rear axle, or when the difference in yaw rate is greater than 0, it is determined that the second torque adjustment amount is the torque transmitted from the rear axle to the front axle.

[0086] Step 203: The torque of the vehicle's drive shaft is adjusted based on the torque adjustment value. In that case, the torque of the vehicle's drive shaft includes the front axle torque and the rear axle torque. The front axle torque is adjusted by the front axle motor, and the rear axle torque is adjusted by the rear axle motor.

[0087] In the practical application process, based on the first torque adjustment amount and the second torque adjustment amount, the front axle torque is adjusted by the front axle motor, and the rear axle torque is adjusted by the rear axle motor to adjust the torque of the drive shaft. The adjustment is performed to suppress or reduce the slip of the vehicle when either axle slips.

[0088] Specifically, the front axle torque may be adjusted based on the front axle torque adjustment amount, or the rear axle torque may be adjusted based on the rear axle torque adjustment amount.

[0089] In practical applications, it can be determined that it is necessary to reduce the torque of the front axle based on the front axle torque adjustment amount, and the front axle torque can be adjusted based on the front axle torque adjustment amount. It can be determined that it is necessary to reduce the torque of the rear axle based on the rear axle torque adjustment amount, and the rear axle torque can be adjusted based on the rear axle torque adjustment amount.

[0090] Specifically, the adjustment of the torque of the vehicle's drive shaft based on the torque adjustment value may include the following:

[0091] Sub-step S2031: When the front axle torque adjustment amount is not zero, the rear axle torque adjustment amount is zero, and in the overall torque adjustment, the current torque output value of the rear axle motor is less than the preset torque peak value of the rear axle motor, the front axle motor is controlled to decrease the front axle torque adjustment amount, and the rear axle motor is controlled to increase the torque.

[0092] In practical applications, when the front axle torque adjustment amount is not zero, the rear axle torque adjustment amount is zero, and the current torque output value of the rear axle motor is less than the preset torque peak value of the rear axle motor, the front axle torque can be transmitted to the rear axle in a specific step size. The step size is obtained by searching a table based on the actual output torque of the current motor, and the step size does not exceed the torque adjustment amount of the current cycle obtained above. During torque transmission, the front axle motor is controlled to decrease the front axle torque adjustment amount, and the rear axle motor is controlled to increase the torque corresponding to the front axle torque adjustment amount. The required total torque of the front axle and the rear axle is not changed throughout the process so as to keep the vehicle in a high-output torque state and achieve the vehicle's motion performance. In addition, the slip of the vehicle can be reduced or suppressed.

[0093] In addition, during torque transmission, the current torque output value of the rear axle motor is obtained in real time, and the torque difference of the rear axle motor between the preset torque peak value of the rear axle motor and the current torque output value of the rear axle motor is calculated. After the torque difference of the rear axle motor is determined, it is determined whether the rear axle motor has reached the output limit.

[0094] When the rear axle torque adjustment amount is less than or equal to the torque difference of the rear axle motor, it can be determined that the rear axle motor can increase the torque corresponding to the rear axle torque adjustment amount, and the torque of the rear axle motor is controlled to increase the torque corresponding to the front axle torque adjustment amount.

[0095] When the rear axle torque adjustment amount is greater than the torque difference of the rear axle motor, during the increase of the torque of the rear axle motor, the rear axle motor reaches the torque output peak value, and the rear axle motor is controlled to increase the torque corresponding to the torque difference of the rear axle motor.

[0096] Sub-step S2032: When the front axle torque adjustment amount is 0, the rear axle torque adjustment amount is not 0, and the current torque output value of the front axle motor is less than the preset torque peak value of the front axle motor, the rear axle motor is controlled to decrease the rear axle torque adjustment amount, and the front axle motor is controlled to increase the torque.

[0097] In practical applications, when the front axle torque adjustment amount is 0, the rear axle torque adjustment amount is not 0, and the current torque output value of the rear axle motor is less than the preset torque peak value of the rear axle motor, the rear axle torque can be transmitted to the front axle in a specific step size. The step size is obtained by searching a table based on the actual output torque of the current motor, and the step size does not exceed the torque adjustment amount of the current cycle obtained above. During torque transmission, the rear axle motor is controlled to reduce the rear axle torque adjustment amount, and the front axle motor is controlled to increase the torque corresponding to the rear axle torque adjustment amount. The required total torque of the front axle and the rear axle does not change throughout the process so as to keep the vehicle in a high output torque state and achieve the vehicle's motion performance. In addition, the slip of the vehicle can be suppressed or reduced.

[0098] In addition, during torque transmission, the current torque output value of the front axle motor is obtained in real time, and the torque difference of the front axle motor between the preset torque peak value of the front axle motor and the current torque output value of the front axle motor is calculated, and it is determined whether the front axle motor has reached the output limit according to the torque difference of the front axle motor.

[0099] When the front axle torque adjustment amount is less than or equal to the torque difference of the front axle motor, it can be determined that the front axle motor can increase the torque corresponding to the rear axle torque adjustment amount, and the torque of the front axle motor is controlled to increase the torque corresponding to the rear axle torque adjustment amount.

[0100] When the front axle torque adjustment amount is greater than the torque difference of the front axle motor, during the increase of the torque of the front axle motor, the front axle motor reaches the torque output peak value, and the front axle motor is controlled to increase the torque corresponding to the torque difference of the front axle motor.

[0101] Sub-step S2033: When the front axle torque adjustment amount is not zero and the rear axle torque adjustment amount is not zero, the front axle motor is controlled to decrease the front axle torque adjustment amount, and the rear axle motor is controlled to decrease the rear axle torque adjustment amount.

[0102] In practical applications, when the front axle torque adjustment amount is not zero and the rear axle torque adjustment amount is not zero, the torque reduction of the front axle / rear axle is performed in a specific step size until the need for torque reduction disappears. The step size is obtained by searching a table based on the actual output torque of the current motor. The total required torque is reduced in the process.

[0103] In one embodiment of the present disclosure, the method further includes: Step S1: The rear axle motor is controlled to decrease the second torque adjustment amount when the second torque adjustment amount is greater than zero.

[0104] In an embodiment of the present disclosure, when there is a second torque adjustment amount, the torque of the drive shaft can be adjusted based on the wheel speed difference. When the second torque adjustment amount is greater than zero, the rear axle motor is controlled to decrease the second torque adjustment amount, that is, the rear axle motor is controlled to decrease the torque corresponding to the second torque adjustment amount.

[0105] Step S2: The front axle motor is controlled to decrease the second torque adjustment amount when the second torque adjustment amount is less than zero.

[0106] Accordingly, the front axle motor is controlled to decrease the second torque adjustment amount when the second torque adjustment amount is less than zero.

[0107] In one embodiment of the present disclosure, the adjustment of the torque of the drive shaft of the vehicle based on the torque adjustment value includes the following:

[0108] Sub-step S2034: The front axle torque and / or the rear axle torque are adjusted based on the front axle torque adjustment amount, the rear axle torque adjustment amount, and the second torque adjustment amount.

[0109] In an embodiment of the present disclosure, the combined torque adjustment amount is obtained by combining the front axle torque adjustment amount, the rear axle torque adjustment amount, and the second torque adjustment amount, and at least one of the front axle torque and the rear axle torque can be adjusted. As a result, the slip of the vehicle can be better controlled.

[0110] Specifically, in step S3: when the second torque adjustment amount is greater than 0, the front axle torque adjustment amount is not 0, and the rear axle torque adjustment amount is 0, the front axle motor is controlled to decrease the front axle torque adjustment amount, and the rear axle motor is controlled to decrease the second torque adjustment amount.

[0111] When the second torque adjustment amount is greater than 0, the front axle torque adjustment amount is not 0, and the rear axle torque adjustment amount is 0, it is necessary to reduce the torque of the front axle and the rear axle, and it can be determined that the second torque adjustment amount is the torque transmitted from the rear axle to the front axle. The front axle motor is controlled to decrease the front axle torque adjustment amount, and the rear axle motor is controlled to decrease the second torque adjustment amount.

[0112] Step S4: When the second torque adjustment amount is greater than 0, the front axle torque adjustment amount is 0, and the rear axle torque adjustment amount is not 0, the rear axle motor is controlled to decrease the first combined torque adjustment amount. In that case, the first combined torque adjustment amount = k 1 * rear axle torque adjustment amount + k 2 * the second torque adjustment amount.

[0113] When the second torque adjustment amount is greater than 0, the front axle torque adjustment amount is 0, and the rear axle torque adjustment amount is not 0, that is, when it is necessary to reduce the torque of the rear axle, k 1 * rear axle torque adjustment amount and k 2* The sum of the second torque adjustment amounts is calculated as the first composite torque adjustment amount, and the rear axle motor is controlled to decrease the first composite torque adjustment amount, while the front axle increases the second torque adjustment amount.

[0114] k 1 and k 2 are torque distribution coefficients, which are set based on required amounts or can be calibrated based on experiments.

[0115] Step S5: When the second torque adjustment amount is less than 0, the front axle torque adjustment amount is 0, and the rear axle torque adjustment amount is not 0, the front axle motor is controlled to decrease the second torque adjustment amount, and the rear axle motor is controlled to decrease the rear axle torque adjustment amount, or

[0116] When the second torque adjustment amount is less than 0, the front axle torque adjustment amount is 0, and the rear axle torque adjustment amount is not 0, it can be determined that torque reduction of the front axle and rear axle is necessary, and the second torque adjustment amount is the torque transmitted from the rear axle to the front axle. The front axle motor is controlled to decrease the second torque adjustment amount, and the rear axle motor is controlled to decrease the rear axle torque adjustment amount.

[0117] Step S6: When the second torque adjustment amount is less than 0, the front axle torque adjustment amount is not 0, and the rear axle torque adjustment amount is 0, the front axle motor is controlled to decrease the second composite torque adjustment amount, and in that case, the second composite torque adjustment amount = k 3 * rear axle torque adjustment amount + k 4 * is the second torque adjustment amount.

[0118] When the second torque adjustment amount is less than 0, the front axle torque adjustment amount is not 0, and the rear axle torque adjustment amount is 0, that is, when torque reduction of the front axle is necessary, k 3 * front axle torque adjustment amount and k 4*The sum of the second torque adjustment amounts is calculated as the second composite torque adjustment amount, and the front axle motor is controlled to decrease the second composite torque adjustment amount, while the rear axle increases the second composite torque adjustment amount. k 3 and k 4 are torque distribution coefficients, which are set based on required amounts or can be calibrated based on experiments.

[0119] In an embodiment of the present disclosure, vehicle drive parameters are acquired. A torque adjustment value of a drive shaft of the vehicle is determined based on the vehicle drive parameters. The torque of the drive shaft of the vehicle is adjusted based on the torque adjustment value. The vehicle drive parameters include the wheel rotation speeds of the wheels at both ends of the drive shaft of the vehicle. The torque adjustment value of each drive shaft of the vehicle is determined by the wheel rotation speeds of the wheels at both ends of the drive shaft of the vehicle, and the torque adjustment in the drive shaft is not limited to a fixed vehicle drive speed range. As a result, two-axis closed-loop torque transmission is performed in the range of the entire speed region. Therefore, the applicable range is wider and the control conditions for torque control are more comprehensive. The torque adjustment of the drive shaft is not limited to only the adjustment of a single drive shaft. By adjusting each of the drive shafts of the vehicle, the torque of the drive shaft is adjusted more comprehensively. Torque can be transmitted between the front axle and the rear axle. As a result, wheel slip is eliminated while the required amount of torque of the entire vehicle remains unchanged, thereby avoiding power consumption and improving the motion performance of the vehicle. In each slip state of the wheels, instead of simply reducing the torque, the slip is eliminated by torque transmission. As a result, the unstable slip state of the vehicle is eliminated while the required power of the vehicle can be achieved, thereby improving the motion performance of the entire vehicle.

[0120] For the sake of brevity of description, embodiments of the method are presented as a combination of a series of operations. However, those skilled in the art will recognize that, according to the embodiments of the present disclosure, certain specific steps can be executed in other orders or simultaneously, and thus the embodiments of the present disclosure are not limited by the order of actions described.

[0121] FIG. 5 is a flowchart of steps of a vehicle torque control device according to an embodiment of the present disclosure, which may specifically include the following modules:

[0122] An acquisition module 501 configured to acquire vehicle drive parameters,

[0123] A torque adjustment amount determination module 502 configured to determine a torque adjustment value of a drive shaft of the vehicle based on the vehicle drive parameters, and

[0124] An adjustment module 503 configured to adjust the torque of the drive shaft of the vehicle based on the torque adjustment value.

[0125] The vehicle drive parameters include the wheel rotation speeds of the wheels at both ends of the drive shaft of the vehicle.

[0126] In one embodiment, the torque adjustment value includes a first torque adjustment amount,

[0127] In that case, the torque adjustment amount determination module 502 includes the following:

[0128] A first calculation sub-module configured to calculate a rotational speed ratio between wheels based on the wheel rotation speeds, and

[0129] A second calculation sub-module configured to calculate the first torque adjustment amount when the rotational speed ratio between wheels is greater than a preset first threshold value.

[0130] In one embodiment, the vehicle drive parameters further include vehicle speed, the rotation angle of the steering wheel, and the current yaw rate. The torque adjustment value further includes a second torque adjustment amount. The torque adjustment amount determination module 502 further includes the following:

[0131] A third calculation sub-module configured to determine an ideal yaw rate based on the rotation angle of the steering wheel and the vehicle speed, and

[0132] A fourth calculation sub-module configured to calculate a second torque adjustment amount based on the ideal yaw rate and the current yaw rate.

[0133] In one embodiment, under the turning condition of the vehicle, the wheel rotation speed includes a high rotation wheel speed and a low rotation wheel speed, and in that case, the first calculation sub-module includes:

[0134] A first calculation unit configured to calculate an equivalent high wheel speed corresponding to the high rotation wheel speed and an equivalent low wheel speed corresponding to the low rotation wheel speed, and

[0135] A second calculation unit configured to divide the equivalent high wheel speed by the equivalent low wheel speed to generate a wheel rotation speed ratio between wheels.

[0136] In one embodiment, the second calculation sub-module includes:

[0137] A third calculation unit configured to calculate an equivalent wheel speed difference based on the equivalent high wheel speed and the equivalent low wheel speed, and

[0138] A fourth calculation unit configured to generate a first torque adjustment amount based on a preset torque formula.

[0139] In one embodiment, the fourth calculation sub-module includes:

[0140] A fifth calculation unit configured to calculate a difference in yaw rate between the current yaw rate and the ideal yaw rate, and

[0141] A sixth calculation unit configured to calculate a second torque adjustment amount based on the absolute value of the yaw rate difference when the absolute value of the yaw rate difference is greater than a preset second threshold value.

[0142] In one embodiment, the sixth calculation unit includes the following:

[0143] A first calculation subunit configured to calculate a second torque adjustment amount corresponding to the absolute value of the yaw rate difference based on the PI control formula.

[0144] In one embodiment, the torque of the vehicle's drive shaft includes the front axle torque, and the first torque adjustment amount includes the front axle torque adjustment amount.

[0145] In that case, the adjustment module 503 includes the following:

[0146] A first adjustment subunit configured to adjust the front axle torque based on the front axle torque adjustment amount.

[0147] Or

[0148] The torque of the vehicle's drive shaft includes the rear axle torque, and the first torque adjustment amount includes the rear axle torque adjustment amount.

[0149] In that case, the adjustment module 503 includes the following:

[0150] A second adjustment subunit configured to adjust the rear axle torque based on the rear axle torque adjustment amount.

[0151] In one embodiment, the torque of the vehicle's drive shaft includes the front axle torque and the rear axle torque. The front axle torque is adjusted by the front axle motor. The rear axle torque is adjusted by the rear axle motor. The first torque adjustment amount includes the front axle torque adjustment amount and the rear axle torque adjustment amount. The adjustment module 503 includes the following:

[0152] When the front axle torque adjustment amount is not zero, the rear axle torque adjustment amount is zero, and the current torque output value of the rear axle motor is less than the preset torque peak value of the rear axle motor, the front axle motor is controlled to reduce the front axle torque adjustment amount, and the rear axle motor is controlled to increase the torque. The second adjustment sub-module is configured as such.

[0153] In one embodiment, the second adjustment sub-module includes the following:

[0154] A first acquisition unit configured to acquire the torque difference of the rear axle motor between the preset torque peak value of the rear axle motor and the current torque output value of the rear axle motor.

[0155] A first adjustment unit configured to control the torque of the rear axle motor to increase the front axle torque adjustment amount when the front axle torque adjustment amount is less than or equal to the torque difference of the rear axle motor, and

[0156] A second adjustment unit configured to control the torque of the rear axle motor to increase the torque difference of the rear axle motor when the front axle torque adjustment amount is greater than the torque difference of the rear axle motor.

[0157] In one embodiment, the torque of the vehicle's drive shaft includes the front axle torque and the rear axle torque. The front axle torque is adjusted by the front axle motor. The rear axle torque is adjusted by the rear axle motor. The first torque adjustment amount includes the front axle torque adjustment amount and the rear axle torque adjustment amount. The adjustment module 503 includes the following:

[0158] When the front axle torque adjustment amount is zero, the rear axle torque adjustment amount is not zero, and the current torque output value of the front axle motor is less than the preset torque peak value of the front axle motor, the rear axle motor is controlled to reduce the rear axle torque adjustment amount, and the front axle motor is controlled to increase the torque. The third adjustment sub-module is configured as such.

[0159] In one embodiment, the third adjustment sub-module includes the following:

[0160] A second acquisition unit configured to acquire a torque difference of the front axle motor between a preset torque peak value of the front axle motor and a current torque output value of the front axle motor;

[0161] A third adjustment unit configured to control the torque of the front axle motor to increase the rear axle torque adjustment amount when the rear axle torque adjustment amount is less than or equal to the torque difference of the front axle motor; and

[0162] A fourth adjustment unit configured to control the torque of the front axle motor to increase the torque difference of the front axle motor when the rear axle torque adjustment amount is greater than the torque difference of the front axle motor.

[0163] In one embodiment, the torque of the vehicle drive shaft includes front axle torque and rear axle torque, the front axle torque is adjusted by the front axle motor, and the rear axle torque is adjusted by the rear axle motor. The first torque adjustment amount includes a front axle torque adjustment amount and a rear axle torque adjustment amount. The adjustment module 503 includes the following:

[0164] A fourth adjustment sub-module configured to control the front axle motor to decrease the rear axle torque adjustment amount and control the rear axle motor to decrease the rear axle torque adjustment amount when the front axle torque adjustment amount is not zero and the rear axle torque adjustment amount is not zero.

[0165] In one embodiment, the torque of the vehicle drive shaft includes front axle torque and rear axle torque. The front axle torque is adjusted by the front axle motor, and the rear axle torque is adjusted by the rear axle motor.

[0166] The apparatus further includes the following:

[0167] When the second torque adjustment amount is greater than 0, the rear axle motor is configured to be controlled so as to decrease the second torque adjustment amount, and the rear axle adjustment module, and

[0168] When the second torque adjustment amount is less than 0, the front axle motor is configured to be controlled so as to decrease the second torque adjustment amount, the front axle adjustment module.

[0169] In one embodiment, the rear axle torque is adjusted by the rear axle motor, and the first torque adjustment amount includes the front axle torque adjustment amount and the rear axle torque adjustment amount.

[0170] The adjustment module 503 includes the following:

[0171] A fourth adjustment sub-module configured to adjust the front axle torque and / or the rear axle torque based on the front axle torque adjustment amount, the rear axle torque adjustment amount, and the second torque adjustment amount.

[0172] In one embodiment, the torque of the vehicle's drive shaft includes the front axle torque and the rear axle torque. The front axle torque is adjusted by the front axle motor, and the rear axle torque is adjusted by the rear axle motor. The fourth adjustment sub-module includes the following:

[0173] When the second torque adjustment amount is greater than 0, the front axle torque adjustment amount is not 0, and the rear axle torque adjustment amount is 0, the front axle motor is configured to be controlled so as to decrease the front axle torque adjustment amount, and the rear axle motor is configured to be controlled so as to decrease the second torque adjustment amount, the first control unit,

[0174] When the second torque adjustment amount is greater than 0, the front axle torque adjustment amount is 0, and the rear axle torque adjustment amount is not 0, the second control unit is configured to control the rear axle motor so as to decrease the first composite torque adjustment amount, and in that case, the first composite torque adjustment amount = k 1 * rear axle torque adjustment amount + k 2*The second torque adjustment amount, the second control unit,

[0175] When the second torque adjustment amount is less than 0, the front axle torque adjustment amount is 0, and the rear axle torque adjustment amount is not 0, the front axle motor is controlled to decrease the second torque adjustment amount, and the rear axle motor is controlled to decrease the rear axle torque adjustment amount. The third control unit, and

[0176] When the second torque adjustment amount is less than 0, the front axle torque adjustment amount is not 0, and the rear axle torque adjustment amount is 0, the front axle motor is configured to control the second combined torque adjustment amount to decrease. In that case, the second combined torque adjustment amount = k 3 *Rear axle torque adjustment amount + k 4 *The fourth control unit, which is the second torque adjustment amount.

[0177] k 1 、k 2 、k 3 And k 4 Are torque distribution coefficients.

[0178] The embodiments of the apparatus are substantially similar to the embodiments of the method, so the description is relatively simple. For related parts, please refer to the description of the method embodiments.

[0179] One embodiment of the present disclosure further discloses an electronic device including a processor, a memory, and a computer program stored in the memory and executable by the processor. The steps of the vehicle torque control method described above are implemented when the computer program is executed by the processor.

[0180] One embodiment of the present disclosure further 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 implemented when the computer program is executed by the processor.

[0181] Embodiments of the present disclosure further disclose a vehicle including a front-wheel motor, a rear-wheel motor, and a control device. The control device is configured to perform the steps of the vehicle torque control method described above.

[0182] Embodiments herein are described progressively, and the description of each embodiment focuses on the differences from other embodiments. Cross-references can be made to the same and similar parts of the embodiments.

[0183] Those skilled in the art will understand that embodiments of the present disclosure can be provided as a method, an apparatus, or a computer program product. Therefore, embodiments of the present disclosure can use forms of only hardware embodiments, only software embodiments, or embodiments in which software and hardware are combined. In addition, embodiments of the present disclosure can use the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk memory, compact disc read-only memory (CD-ROM), and optical memory) containing computer-usable program code.

[0184] Embodiments of the present disclosure will be described with reference to the flowcharts and / or block diagrams of methods, terminal devices (systems), and computer program products in the embodiments of the present disclosure. It will be understood that computer program instructions can implement each step and / or block in the flowchart and / or block diagram, as well as combinations of steps and / or blocks in the flowchart and / or block diagram. These computer program instructions may be provided to the processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to manufacture a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device are configured to implement the functions specified in one or more steps of the flowchart and / or one or more blocks of the block diagram. A device is manufactured for use.

[0185] Alternatively, these computer program instructions may be stored in a computer-readable memory that can instruct a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory are used to manufacture a product including an instruction device, and the instruction device implements the functions specified in one or more steps of the flowchart and / or one or more blocks of the block diagram.

[0186] Alternatively, these computer program instructions may be loaded into a computer or other programmable data processing terminal device, so that a series of operation steps are executed on the computer or other programmable terminal device to create a process implemented on the computer. Therefore, 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 steps of the flowchart and / or one or more blocks of the block diagram.

[0187] Finally, it should be noted that relative terms such as "first" and "second" in this specification are only used to distinguish one entity or operation from another, and do not necessarily require or imply any actual such relationship or order between such entities or operations. Further, terms such as "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 elements not expressly listed or elements inherent to this process, method, article, or terminal device. Without further limitation, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in a process, method, article, or terminal device that comprises the element.

[0188] The vehicle torque control method and apparatus, electronic device, and storage medium according to the present disclosure are described in detail above. The principles and implementations of the present disclosure are illustrated by applying specific examples in this specification, but the description of the above embodiments is only intended to assist in understanding the methods and core concepts of the present disclosure. In addition, those skilled in the art can make changes based on the concepts of the present disclosure to specific implementations and application scopes. In short, the content of this specification should not be construed as a limitation to the present disclosure.

Claims

1. A vehicle torque control method, comprising: obtaining vehicle drive parameters; determining a torque adjustment value for a drive shaft of the vehicle based on the vehicle drive parameters; and adjusting the torque of the drive shaft of the vehicle based on the torque adjustment value. The vehicle drive parameters include wheel rotational speeds of wheels at both ends of the drive shaft of the vehicle. A vehicle torque control method.

2. The torque adjustment value includes a first torque adjustment amount. Determining the torque adjustment value for the drive shaft of the vehicle based on the vehicle drive parameters includes: calculating a wheel rotational speed ratio between wheels based on the wheel rotational speeds; and calculating the first torque adjustment amount when the wheel rotational speed ratio is greater than a preset first threshold value. The method according to claim 1.

3. The vehicle drive parameters further include a vehicle speed, a rotational angle of a steering wheel, and a current yaw rate. The torque adjustment value further includes a second torque adjustment amount. Determining the torque adjustment value for the drive shaft of the vehicle based on the vehicle drive parameters includes: determining an ideal yaw rate based on the rotational angle of the steering wheel and the vehicle speed; and calculating the second torque adjustment amount based on the ideal yaw rate and the current yaw rate. The method according to claim 2.

4. Under turning conditions of the vehicle, the wheel rotational speeds include a high-rotational wheel speed and a low-rotational wheel speed. Calculating the wheel rotational speed ratio between wheels based on the wheel rotational speeds includes: calculating an equivalent high wheel speed corresponding to the high-rotational wheel speed and an equivalent low wheel speed corresponding to the low-rotational wheel speed; and generating the wheel rotational speed ratio by dividing the equivalent high wheel speed by the equivalent low wheel speed. The method according to claim 2.

5. Calculating the first torque adjustment amount includes: calculating an equivalent wheel speed difference based on the equivalent high wheel speed and the equivalent low wheel speed; and generating the first torque adjustment amount based on a preset torque formula. The method according to claim 4.

6. Calculating the second torque adjustment amount based on the ideal yaw rate and the current yaw rate includes: ​ Calculating a difference in yaw rate between the current yaw rate and the ideal yaw rate, and when an absolute value of the difference in yaw rate is greater than a preset second threshold, calculating the second torque adjustment amount based on the absolute value of the difference in yaw rate The method according to claim 3, comprising:

7. Calculating the second torque adjustment amount based on the absolute value of the difference in yaw rate is Calculating the second torque adjustment amount corresponding to the absolute value of the difference in yaw rate based on an equation of PI control The method according to claim 6, comprising:

8. The torque of the drive shaft of the vehicle includes front axle torque, the first torque adjustment amount includes front axle torque adjustment amount, Adjusting the torque of the drive shaft of the vehicle based on the torque adjustment value is Adjusting the front axle torque based on the front axle torque adjustment amount Comprising: Or The torque of the drive shaft of the vehicle includes rear axle torque, the first torque adjustment amount includes rear axle torque adjustment amount, Adjusting the torque of the drive shaft of the vehicle based on the torque adjustment value is Adjusting the rear axle torque based on the rear axle torque adjustment amount The method according to claim 2, comprising:

9. The torque of the drive shaft of the vehicle includes front axle torque and rear axle torque, the front axle torque is adjusted by a front axle motor, the rear axle torque is adjusted by a rear axle motor, the first torque adjustment amount includes front axle torque adjustment amount and rear axle torque adjustment amount, adjusting the torque of the drive shaft of the vehicle based on the torque adjustment value is When the front axle torque adjustment amount is not zero and the rear axle torque adjustment amount is zero, and a current torque output value of the rear axle motor is less than a preset torque peak value of the rear axle motor, controlling the front axle motor to decrease the front axle torque adjustment amount, and controlling the rear axle motor to increase torque The method according to claim 2, comprising:

10. Controlling the rear axle motor to increase torque is Obtaining a torque difference of the rear axle motor between the preset torque peak value of the rear axle motor and the current torque output value of the rear axle motor, and When the front axle torque adjustment amount is less than or equal to the torque difference of the rear axle motor, controlling the torque of the rear axle motor to increase the front axle torque adjustment amount, or When the front axle torque adjustment amount is greater than the torque difference of the rear axle motor, controlling the torque of the rear axle motor to increase the torque difference of the rear axle motor The method according to claim 9, comprising.

11. The torque of the drive shaft of the vehicle includes a front axle torque and a rear axle torque, the front axle torque is adjusted by a front axle motor, the rear axle torque is adjusted by a rear axle motor, the first torque adjustment amount includes a front axle torque adjustment amount and a rear axle torque adjustment amount, and adjusting the torque of the drive shaft of the vehicle based on the torque adjustment value is When the front axle torque adjustment amount is 0, the rear axle torque adjustment amount is not 0, and the current torque output value of the front axle motor is less than the preset torque peak value of the front axle motor, controlling the rear axle motor to decrease the rear axle torque adjustment amount, and controlling the front axle motor to increase the torque The method according to claim 2, comprising.

12. Controlling the front axle motor to increase the torque is Obtaining a torque difference of the front axle motor between the preset torque peak value of the front axle motor and the current torque output value of the front axle motor, and When the rear axle torque adjustment amount is less than or equal to the torque difference of the front axle motor, controlling the torque of the front axle motor to increase the rear axle torque adjustment amount, or When the rear axle torque adjustment amount is greater than the torque difference of the front axle motor, controlling the torque of the front axle motor to increase the torque difference of the front axle motor The method according to claim 11, comprising.

13. The torque of the drive shaft of the vehicle includes a front axle torque and a rear axle torque, the front axle torque is adjusted by a front axle motor, the rear axle torque is adjusted by a rear axle motor, the first torque adjustment amount includes a front axle torque adjustment amount and a rear axle torque adjustment amount, and adjusting the torque of the drive shaft of the vehicle based on the torque adjustment value is when the front axle torque adjustment amount is not zero and the rear axle torque adjustment amount is not zero, controlling the front axle motor to decrease the rear axle torque adjustment amount, and controlling the rear axle motor to decrease the rear axle torque adjustment amount The method according to claim 2, comprising.

14. The torque of the drive shaft of the vehicle includes a front axle torque and a rear axle torque, the front axle torque is adjusted by a front axle motor, and the rear axle torque is adjusted by a rear axle motor. The method is when the second torque adjustment amount is greater than 0, controlling the rear axle motor to decrease the second torque adjustment amount, or when the second torque adjustment amount is less than 0, controlling the front axle motor to decrease the second torque adjustment amount The method according to claim 7, further comprising.

15. The torque of the drive shaft of the vehicle includes a front axle torque and a rear axle torque, the front axle torque is adjusted by a front axle motor, the rear axle torque is adjusted by a rear axle motor, and the first torque adjustment amount includes a front axle torque adjustment amount and a rear axle torque adjustment amount. Adjusting the torque of the drive shaft of the vehicle based on the torque adjustment value is adjusting the front axle torque based on the front axle torque adjustment amount, the rear axle torque adjustment amount, and the second torque adjustment amount, or adjusting the rear axle torque based on the front axle torque adjustment amount, the rear axle torque adjustment amount, and the second torque adjustment amount, or adjusting the front axle torque and the rear axle torque based on the front axle torque adjustment amount, the rear axle torque adjustment amount, and the second torque adjustment amount The method according to claim 3, comprising.

16. The torque of the drive shaft of the vehicle includes a front axle torque and a rear axle torque, and adjusts the front axle torque based on the front axle torque adjustment amount, the rear axle torque adjustment amount, and the second torque adjustment amount, or adjusts the rear axle torque based on the front axle torque adjustment amount, the rear axle torque adjustment amount, and the second torque adjustment amount, or adjusts the front axle torque and the rear axle torque based on the front axle torque adjustment amount, the rear axle torque adjustment amount, and the second torque adjustment amount, when the second torque adjustment amount is greater than 0, the front axle torque adjustment amount is not 0, and the rear axle torque adjustment amount is 0, controlling the front axle motor to decrease the front axle torque adjustment amount, and controlling the rear axle motor to decrease the second torque adjustment amount, When the second torque adjustment amount is greater than 0, the front wheel axle torque adjustment amount is 0, and the rear wheel axle torque adjustment amount is not 0, controlling the rear wheel axle motor so as to decrease the first composite torque adjustment amount, where the first composite torque adjustment amount = k １ * the rear wheel axle torque adjustment amount + k ２ * the second torque adjustment amount, that is, controlling, or when the second torque adjustment amount is less than 0, the front axle torque adjustment amount is 0, and the rear axle torque adjustment amount is not 0, controlling the front axle motor to decrease the second torque adjustment amount, and controlling the rear axle motor to decrease the rear axle torque adjustment amount, or When the second torque adjustment amount is less than 0, the front axle torque adjustment amount is not 0, and the rear axle torque adjustment amount is 0, controlling the front axle motor to decrease the second composite torque adjustment amount, where the second composite torque adjustment amount = k ３ * the rear axle torque adjustment amount + k ４ * the second torque adjustment amount, and the control includes where k １ , k ２ , k ３ and k ４ are torque distribution coefficients The method according to claim 15.

17. A vehicle torque control device, an acquisition module configured to acquire vehicle drive parameters, a torque adjustment amount determination module configured to determine a torque adjustment value of a drive shaft of a vehicle based on the vehicle drive parameters, and an adjustment module configured to adjust the torque of the drive shaft of the vehicle based on the torque adjustment value comprising, wherein the vehicle drive parameters include wheel rotation speeds of wheels at both ends of the drive shaft of the vehicle, Vehicle torque control device.

18. A vehicle comprising a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein the steps of the vehicle torque control method according to any one of claims 1 to 16 are performed when the computer program is executed by the processor.

19. A computer-readable storage medium storing a computer program, wherein steps of the vehicle torque control method according to any one of claims 1 to 16 are performed when the computer program is executed by a processor.

20. A vehicle comprising a front-wheel motor, a rear-wheel motor, and a control device, wherein the control device is configured to perform steps of the vehicle torque control method according to any one of claims 1 to 16.

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