Vehicle torque control method and apparatus, 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 of 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 by BYD Co., Ltd. on 20 May 2022.

[0002] This disclosure relates to the vehicle technology, and more particularly to vehicle torque control methods and apparatus, electronic devices, and storage media. [Background technology]

[0003] While a vehicle is in motion, it may encounter situations such as turning to escape a dangerous situation. In these situations, the vehicle's torque often needs to be controlled to ensure safe and smooth driving. However, currently, situational awareness is often limited to a specific vehicle speed range, resulting in insufficient torque control conditions, making it impossible to control torque across the entire speed range. [Overview of the Initiative] [Problems that the invention aims to solve]

[0004] This disclosure is intended to solve, at least to some extent, one of the technical problems in the relevant technology. [Means for solving the problem]

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

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

[0007] Vehicle drive parameters are obtained.

[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, and as a result, the slip state of the vehicle is eliminated while 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 are apparent from the following description, or are learned by the practice of the present disclosure.

Brief Description of the Drawings

[0017] [Figure 1] It is a flowchart of steps of a vehicle torque control method according to an embodiment of the present disclosure. [Figure 2]A flowchart of steps of a vehicle torque control method according to another embodiment of the present disclosure. [Figure 3] A schematic diagram of a vehicle steering model according to the present disclosure. [Figure 4] A schematic diagram of a two-degree-of-freedom motion model of a vehicle according to the present disclosure. [Figure 5] A structural block diagram of a vehicle torque control device according to an embodiment of the present disclosure.

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 explain the present disclosure and cannot 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 an embodiment 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 wheel speed sensors, are read to obtain vehicle drive parameters. These vehicle drive parameters include at least the wheel rotation speeds of the wheels at both ends of the vehicle's drive shaft. Step 102: The 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 vehicle's driving conditions are determined based on these parameters, and the torque adjustment values ​​for the vehicle's drive shafts are calculated based on these parameters. For example, if the vehicle has two drive shafts, a front axle and a rear axle, the torque adjustment values ​​for the front axle and the torque adjustment values ​​for 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 torque adjustment values ​​corresponding to different drive shafts in the vehicle, and each drive shaft in the entire vehicle is adjusted accordingly based on the adjustment policy.

[0026] In embodiments of this disclosure, vehicle drive parameters are acquired. Torque adjustment values ​​for the vehicle's drive shafts are determined based on the vehicle drive parameters. The torque of the vehicle's drive shafts is adjusted based on the torque adjustment values. The vehicle drive parameters include the wheel rotation speeds of the wheels at both ends of the vehicle's drive shafts. The torque adjustment value for each drive shaft of the vehicle is determined by the wheel rotation speeds of the wheels at both ends of the vehicle's drive shafts, and the torque adjustment in the drive shafts is not limited to a fixed vehicle drive speed range, but the torque of the drive shafts can be adjusted over the entire speed range, resulting in more comprehensive control conditions for torque control. Torque adjustment of the drive shafts is not limited to the adjustment of a single drive shaft. By adjusting each of the vehicle's drive shafts, the torque of the drive shafts is adjusted more comprehensively, and double-shaft closed-loop control is implemented, thereby avoiding power consumption, and as a result, vehicle slip control can be implemented over the entire range.

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

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

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

[0030] Step 202: The torque adjustment value for the vehicle's drive shaft is determined based on the vehicle's 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 vehicle's operating conditions can be determined by the vehicle drive parameters based on a 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 a torque adjustment amount determined based on the difference in wheel speed between the wheels at both ends of the vehicle's drive shaft, and the second torque adjustment amount is a torque adjustment amount determined based on the yaw rate during vehicle cornering. The adjustments are made based on different parameters so that the vehicle's slip can be controlled more effectively.

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

[0033] Substep S2021: The wheel-to-wheel rotation speed ratio is calculated based on the wheel rotation speed.

[0034] In embodiments of this disclosure, the wheel-to-wheel speed ratio of wheels on both sides of the same drive shaft is calculated based on the corresponding wheel speeds of the wheels on both sides of the same drive shaft. The wheel-to-wheel speed ratio can be calculated using the wheel speed of one wheel as the numerator and the wheel speed of the other wheel as the denominator.

[0035] In one embodiment, under vehicle turning conditions, the wheel rotation speed includes high-speed and low-speed wheel rotation speeds. The calculation of the wheel rotation speed ratio based on the wheel rotation speed includes:

[0036] The equivalent high wheel speed corresponding to the high rotational wheel speed is calculated, and the equivalent low wheel speed corresponding to the low rotational wheel speed is calculated.

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

[0038] Naturally, the equivalent low-wheel speed may also be divided by the equivalent high-wheel speed.

[0039] In practical applications, equivalent wheel speed can be calculated using the vehicle's steering model and yaw rate; that is, equivalent wheel speed is the rotational speed of the wheels in the vehicle's driving direction, with the influence of steering factors not removed. The vehicle's steering model is used to convert high-speed and low-speed wheel speeds obtained from signals from wheel speed sensors to calculate the equivalent high wheel speed corresponding to the high-speed wheel speed and the equivalent low wheel speed corresponding to the low-speed wheel speed.

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

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

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

[0043] Equivalent coefficient of the inner front wheel:

number

[0044] Equivalent coefficient of the outer rim of the front wheel:

number

[0045] where the turning radius of the vehicle is R = V x 2 / a y Fac R is, and Fac R is the steering 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 wheelbase between the left and right wheels, L is the axle distance between 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 calculating the equivalent high-speed and equivalent low-speed wheel speeds, the equivalent high-speed wheel speed is divided by the equivalent low-speed wheel speed to generate the wheel-to-wheel rotation speed ratio. Specifically, if 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. Alternatively, if 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 speed ratio is calculated, it is compared to a preset first threshold. If the wheel-to-wheel speed ratio is greater than the preset first threshold, it is determined that there is a large difference in wheel speed between the left and right wheels of the vehicle, and that the drive shaft is currently in a slip state. An initial corresponding first torque adjustment amount is calculated. If the front axle is in a slip state, the first torque adjustment amount is calculated from the wheel-to-wheel speed ratio of the front axle and defined as the front axle torque adjustment amount. If the rear axle is in a slip state, the first torque adjustment amount is calculated from the wheel-to-wheel speed ratio of the rear axle and defined as the rear axle torque adjustment amount. The first threshold can be changed depending on the vehicle speed. The range of the reference value for 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 predetermined torque formula may also 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] In the formula, 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:

number

[0058] In the formula, k represents the current rotation, J represents the moment of inertia of the wheel, ω² represents the absolute value of the difference in wheel speed between the left and right wheels of the front or rear axle, A is the proportionality constant, B is the integral constant, C is the derivative constant, and e k ω2 represents the difference in ω2 over different cycles, and Δu(k) represents the increment of the first torque adjustment amount.

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

[0060] Substep S2023: The ideal yaw rate is determined based on the steering wheel rotation angle and vehicle speed.

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

number

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

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

number

[0064] The target yaw rate is

number

[0065] The two equations above are combined,

number

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

number

[0067] In the formula, 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 related to the sideslip angle of the center of mass.

[0068]

number

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

number

[0070] In the formula, β is the side slip angle of the center of mass.

[0071] Lateral acceleration may be limited by the coefficient of road friction: a y ≤μg

[0072] In the formula, μ is the coefficient of road friction and g is the acceleration due to gravity.

[0073] Assuming that the side slip angle of the vehicle's center of mass and its derivative are very small, a y The second and third terms in the solution occupy only the small portion of the total transverse acceleration. At that time, the upper limit of the yaw rate is

number

[0074] In the formula, the coefficient 0.85 is a y The second and third terms in the solution are empirical values ​​that allow them 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] Substep S2024: The second torque adjustment amount is calculated based on the ideal yaw rate and the current yaw rate.

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

[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. If the absolute value of the yaw rate difference is greater than a preset second threshold, a second torque adjustment amount is calculated based on the absolute value of the yaw rate difference.

[0080] In this embodiment of the Disclosure, the yaw rate difference is obtained by subtracting the ideal yaw rate from the current yaw rate, thereby determining the absolute value of the yaw rate difference. The absolute value of the yaw rate difference is compared to a preset second threshold. If 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 condition, and a second torque adjustment amount is calculated based on the absolute value of the yaw rate difference. The reference range for the second threshold is 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 proportional-integral control (PI control) formula.

[0082] The formula for PI control is as follows: ΔT = k1d3 + k2(d3-d 3i )

[0083] In the formula, ΔT is the torque adjustment amount, k1 and k2 are calibration amounts set based on the required amount, d3 is the difference in yaw rate, and d 3i This represents d3 in the previous case. In actual application, the difference in yaw rates is calculated first: d3=ω real -ω tar

[0084] In the formula, ω real This is the actual yaw rate measured by the sensor.

[0085] The absolute value of the yaw rate difference is input to the PI control to obtain a second torque adjustment amount. If the yaw rate difference 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 if the yaw rate difference 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 shafts is adjusted based on the torque adjustment value, in which case the torque of the vehicle's drive shafts 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 practical application processes, the torque of the drive shafts is adjusted by the front axle motor and the rear axle motor, respectively, based on a first and second torque adjustment amount. The adjustment is made to suppress or reduce vehicle slippage in the event of slippage on either axle.

[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 is possible to determine whether a reduction in front axle torque is necessary based on the front axle torque adjustment amount, and the front axle torque can be adjusted based on the front axle torque adjustment amount. Similarly, it is possible to determine whether a reduction in rear axle torque is necessary 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 a torque adjustment value may include the following:

[0091] Substep S2031: If the front axle torque adjustment amount is not 0, the rear axle torque adjustment amount is 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 throughout the torque adjustment, 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, if the front axle torque adjustment is not zero, the rear axle torque adjustment 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 stepped magnitude. The stepped magnitude is obtained by looking up a table based on the actual output torque of the current motor, and the stepped magnitude does not exceed the torque adjustment amount for 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 and rear axles is not changed throughout the process in order to keep the vehicle in a high-output torque state and achieve the vehicle's dynamic performance. In addition, vehicle slip 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 its output limit.

[0094] If 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, the rear axle motor reaches its torque output peak value during the torque increase of the rear axle motor, and the rear axle motor is controlled to increase the torque corresponding to the torque difference of the rear axle motor.

[0096] Substep 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 is 0, the rear axle torque adjustment 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 stepped magnitude. The stepped magnitude is obtained by looking up a table based on the actual output torque of the current motor, and the stepped magnitude does not exceed the torque adjustment amount for the current cycle obtained above. During torque transmission, 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 corresponding to the rear axle torque adjustment amount. The required total torque of the front and rear axles is not changed throughout the process in order to keep the vehicle in a high-output torque state and achieve the vehicle's dynamic performance. In addition, vehicle slip 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 and the current torque output value of the front axle motor is calculated. Based on this torque difference, it is determined whether the front axle motor has reached its output limit.

[0099] If 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, the front axle motor reaches its torque output peak value during the torque increase of the front axle motor, and the front axle motor is controlled to increase the torque corresponding to the torque difference of the front axle motor.

[0101] Substep S2033: If the front axle torque adjustment amount is not 0 and the rear axle torque adjustment amount is not 0, the front axle motor is controlled to reduce the front axle torque adjustment amount, and the rear axle motor is controlled to reduce the rear axle torque adjustment amount.

[0102] In practical applications, when the front axle torque adjustment is not zero and the rear axle torque adjustment is not zero, the front / rear axle torque reduction is performed in a specific stepwise manner until no further torque reduction is needed. The stepwise magnitude is determined by looking up 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 0.

[0104] In embodiments of the present disclosure, the torque of the drive shaft can be adjusted based on the wheel speed difference when a second torque adjustment amount exists. When the second torque adjustment amount is greater than 0, 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 reduce the second torque adjustment amount if the second torque adjustment amount is less than 0.

[0106] Accordingly, the front axle motor is controlled to reduce the second torque adjustment amount when the second torque adjustment amount is less than 0.

[0107] In one embodiment of the present disclosure, the torque of a vehicle's drive shaft is adjusted based on a torque adjustment value, which includes:

[0108] Substep S2034: The front axle torque and / or 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 embodiments of this disclosure, a combined torque adjustment amount is obtained by combining a front axle torque adjustment amount, a rear axle torque adjustment amount, and a second torque adjustment amount, allowing adjustment of at least one of the front axle torque and the rear axle torque, thereby enabling better control of vehicle slip.

[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 reduce the front axle torque adjustment amount, and the rear axle motor is controlled to reduce the second torque adjustment amount.

[0111] If 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, then it is necessary to reduce the torque of both the front and rear axles, 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 reduce the front axle torque adjustment amount, and the rear axle motor is controlled to reduce the second torque adjustment amount.

[0112] Step S4: If 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 which case the first combined torque adjustment amount = k1 * rear axle torque adjustment amount + k2 * 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, i.e., when it is necessary to reduce the torque of the rear axle, the sum of k1 * rear axle torque adjustment amount and k2 * second torque adjustment amount is calculated as the first combined torque adjustment amount, the rear axle motor is controlled to decrease the first combined torque adjustment amount, and the front axle increases the second torque adjustment amount.

[0114] k1 and k2 are torque distribution coefficients, which can be set based on the required quantity or calibrated based on experiments.

[0115] Step S5: If 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] If 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, then it can be determined that there is a need to reduce the torque of the front and rear axles, 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: The front axle motor is controlled to decrease the second combined torque adjustment amount if 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. In this case, the second combined torque adjustment amount = k3 * rear axle torque adjustment amount + k4 * 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, i.e., when a reduction in front axle torque is required, the sum of k3 * front axle torque adjustment amount and k4 * second torque adjustment amount is calculated as the second combined torque adjustment amount, and the front axle motor is controlled to decrease the second combined torque adjustment amount, while the rear axle increases the second combined torque adjustment amount. k3 and k4 are torque distribution coefficients, which can be set based on the required amount or calibrated based on experiment.

[0119] In embodiments of this disclosure, vehicle drive parameters are acquired. Torque adjustment values ​​for the vehicle's drive shafts are determined based on the vehicle drive parameters. The torque of the vehicle's drive shafts is adjusted based on the torque adjustment values. The vehicle drive parameters include the wheel rotation speeds of the wheels at both ends of the vehicle's drive shafts. The torque adjustment value for each drive shaft of the vehicle is determined by the wheel rotation speeds of the wheels at both ends of the vehicle's drive shafts, and the torque adjustment in the drive shafts is not limited to a fixed vehicle drive speed range, resulting in dual-axis closed-loop torque transmission across the entire speed range. This results in a wider range of applicability and more comprehensive control conditions for torque control. Drive shaft torque adjustment is not limited to the adjustment of a single drive shaft. Each adjustment of each drive shaft of the vehicle allows for more comprehensive adjustment of the drive shaft torque. Torque can be transmitted between the front and rear axles, resulting in the elimination of wheel slip while the overall torque requirement of the vehicle remains unchanged, thereby avoiding power consumption and improving the vehicle's dynamic performance. Instead of simply reducing torque in each wheel slip state, the slip is eliminated through torque transmission. As a result, the vehicle's unstable slip state is eliminated while the required power is achieved, thereby improving the overall dynamic performance of the vehicle.

[0120] For the sake of brevity of explanation, embodiments of the method are presented as a combination of a series of actions; however, those skilled in the art will recognize that embodiments of the disclosure are not limited by the sequence of actions described, as certain steps may be performed in other orders or simultaneously.

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

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

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

[0124] Adjustment module 503, configured to adjust the torque of the vehicle's drive shaft based on a torque adjustment value.

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

[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 submodule configured to calculate the inter-wheel rotation speed ratio of the wheels based on the wheel rotation speed, and

[0129] A second calculation submodule configured to calculate a first torque adjustment amount when the wheel-to-wheel rotation speed ratio is greater than a preset first threshold.

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

[0131] A third calculation submodule configured to determine the ideal yaw rate based on the steering wheel rotation angle and vehicle speed, and

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

[0133] In one embodiment, under vehicle turning conditions, the wheel rotation speed includes high-speed and low-speed wheel rotation, in which case the first calculation submodule includes:

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

[0135] A second computing unit configured to generate the wheel-to-wheel rotation speed ratio by dividing the equivalent high wheel speed by the equivalent low wheel speed.

[0136] In one embodiment, the second calculation submodule includes:

[0137] A third computing unit configured to calculate the 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 submodule includes:

[0140] A fifth computing unit configured to calculate the 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.

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

[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 submodule 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 submodule 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 shafts includes front axle torque and rear axle torque, with the front axle torque being 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:

[0152] A second adjustment submodule is configured to control the front axle motor to decrease the front axle torque adjustment amount and the rear axle motor to increase the torque when the front axle torque adjustment amount is not 0, the rear axle torque adjustment amount is 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.

[0153] In one embodiment, the second adjustment submodule includes:

[0154] A first acquisition unit is configured to acquire the torque difference of the rear axle motor between a 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 shafts includes front axle torque and rear axle torque, with the front axle torque being 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:

[0158] A third adjustment submodule is configured to control the rear axle motor to decrease the rear axle torque adjustment amount and the front axle motor to increase the torque 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.

[0159] In one embodiment, the third adjustment submodule includes:

[0160] A second acquisition unit is configured to acquire the torque difference of the front axle motor between a preset torque peak value of the front axle motor and the 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's drive shafts includes front axle torque and rear axle torque, with the front axle torque being 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:

[0164] A fourth adjustment submodule configured to control the front axle motor to reduce the rear axle torque adjustment amount and the rear axle motor to reduce the rear axle torque adjustment amount when the front axle torque adjustment amount is not 0 and the rear axle torque adjustment amount is not 0.

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

[0166] The equipment also includes:

[0167] A rear axle adjustment module configured to control the rear axle motor to decrease the second torque adjustment amount when the second torque adjustment amount is greater than 0, and

[0168] A front axle adjustment module configured to control the front axle motor to reduce the second torque adjustment amount when the second torque adjustment amount is less than 0.

[0169] In one embodiment, the rear axle torque is adjusted by a 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 submodule configured to adjust the front axle torque and / or rear axle torque based on the front axle torque adjustment amount, the rear axle torque adjustment amount, and a second torque adjustment amount.

[0172] In one embodiment, the torque of the vehicle's drive shafts includes front axle torque and rear axle torque. The front axle torque is regulated by the front axle motor, and the rear axle torque is regulated by the rear axle motor. A fourth adjustment submodule includes:

[0173] A first control unit is configured to control the front axle motor to reduce the front axle torque adjustment amount and the rear axle motor to reduce 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.

[0174] A second control unit configured to control the rear axle motor to reduce the first combined torque adjustment amount 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, wherein in that case, the first combined torque adjustment amount = k1 * rear axle torque adjustment amount + k2 * second torque adjustment amount.

[0175] A third control unit is configured to control the front axle motor to reduce the second torque adjustment amount and the rear axle motor to reduce the rear axle torque adjustment amount 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, and

[0176] A fourth control unit configured to control the front axle motor to reduce the second combined torque adjustment amount 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, wherein in that case, the second combined torque adjustment amount = k3 * rear axle torque adjustment amount + k4 * second torque adjustment amount.

[0177] k1, k2, k3, and k4 are torque distribution coefficients.

[0178] Since the embodiments of the apparatus are substantially similar to those of the method embodiments, the description is relatively brief. For relevant details, please refer to the description of the method embodiments.

[0179] One embodiment of the present disclosure further discloses an electronic device comprising a processor, 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 performed when the computer program is executed by the processor.

[0180] One embodiment of the present disclosure further discloses a computer-readable storage medium for storing a computer program. The steps of the vehicle torque control method described above are performed when the computer program is executed by a processor.

[0181] Embodiments of this 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 steps of the vehicle torque control method described above.

[0182] The embodiments described herein are described progressively, and the description of each embodiment focuses on the differences from other embodiments. Mutual 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 methods, apparatus, or computer program products. Thus, embodiments of the present disclosure may take the form of hardware-only embodiments, software-only embodiments, or embodiments combining software and hardware. In addition, embodiments of the present disclosure may take the form of computer program products 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), including computer-usable program code.

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

[0185] These computer program instructions may, alternatively, be stored in computer-readable memory that can instruct a computer or other programmable data processing terminal device to operate in a specific manner, and as a result, the instructions stored in computer-readable memory are used to manufacture a product including an instruction unit, and the instruction unit performs one or more steps in a flowchart and / or one or more blocks in a block diagram.

[0186] These computer program instructions may, alternatively, be loaded into 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 create the processing performed on the computer, and so that the instructions executed on the computer or other programmable terminal device are used to give steps to perform one or more steps in a flowchart and / or one or more blocks in a block diagram that perform a function.

[0187] Finally, it should be noted that the correlative terms used herein, such as “first” and “second,” are used merely to distinguish one entity or action from another, and do not necessarily require or suggest any actual relationship or order between such entities or actions. Furthermore, terms such as “includes,” “equipped with,” or any other variation thereof are intended to imply non-exclusive inclusion, such that a process, method, article, or terminal device containing a set of elements includes not only those elements but also elements not explicitly enumerated, or elements specific to that process, method, article, or terminal device. Without further limitation, an element defined by the phrase “includes…” does not exclude other identical elements also being present in the process, method, article, or terminal device containing the element.

[0188] The vehicle torque control methods and apparatus, electronic devices, and storage media described herein are described in detail above. The principles and practices of the disclosure are described by applying specific examples herein, but the above description of embodiments is intended only to aid in understanding the methods and core concepts of the methods described herein. In addition, those skilled in the art can modify them to specific practices and scopes based on the concepts of the disclosure. In short, the contents of this specification should not be construed as limitations on the disclosure.

Claims

1. A vehicle torque control method, To obtain vehicle drive parameters, Based on the aforementioned vehicle drive parameters, the torque adjustment value for the vehicle's drive shaft is determined, and The system includes adjusting the torque of the drive shaft of the vehicle 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 includes a first torque adjustment amount, The torque adjustment value for the vehicle's drive shaft is determined based on the aforementioned vehicle drive parameters. Calculating the wheel-to-wheel rotation speed ratio based on the aforementioned wheel rotation speed, and When the wheel-to-wheel rotation speed ratio is greater than a preset first threshold, the first torque adjustment amount is calculated. The torque of the drive shaft of the vehicle comprises 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 comprises a front axle torque adjustment amount and a rear axle torque adjustment amount, and the torque of the drive shaft of the vehicle is adjusted based on the torque adjustment value. A method comprising controlling the front axle motor to decrease the front axle torque adjustment amount and controlling the rear axle motor to increase the rear axle torque adjustment amount 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 a preset torque peak value of the rear axle motor.

2. Controlling the rear axle motor to increase the rear axle torque adjustment amount, To obtain 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, and When the front axle torque adjustment amount is less than or equal to the torque difference of the rear axle motor, the torque of the rear axle motor is controlled to increase the front axle torque adjustment amount, or The method according to claim 1, further comprising controlling the torque of the rear axle motor to increase the torque difference of the rear axle motor when the amount of front axle torque adjustment is greater than the torque difference of the rear axle motor.

3. A vehicle torque control method, To obtain vehicle drive parameters, Based on the aforementioned vehicle drive parameters, the torque adjustment value for the vehicle's drive shaft is determined, and The system includes adjusting the torque of the drive shaft of the vehicle 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 includes a first torque adjustment amount, The torque adjustment value for the vehicle's drive shaft is determined based on the aforementioned vehicle drive parameters. Calculating the wheel-to-wheel rotation speed ratio based on the aforementioned wheel rotation speed, and When the wheel-to-wheel rotation speed ratio is greater than a preset first threshold, the first torque adjustment amount is calculated. The torque of the drive shaft of the vehicle comprises 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 comprises a front axle torque adjustment amount and a rear axle torque adjustment amount, and the torque of the drive shaft of the vehicle is adjusted based on the torque adjustment value. A method comprising controlling the rear axle motor to decrease the rear axle torque adjustment amount and controlling the front axle motor to increase the front axle torque adjustment amount 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 a preset torque peak value of the front axle motor.

4. Controlling the front axle motor to increase the amount of torque adjustment on the front axle is To obtain 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, and When the rear axle torque adjustment amount is less than or equal to the torque difference of the front axle motor, the torque of the front axle motor is controlled to increase the rear axle torque adjustment amount, or The method according to claim 3, further comprising controlling 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.

5. A vehicle torque control method, To obtain vehicle drive parameters, Based on the aforementioned vehicle drive parameters, the torque adjustment value for the vehicle's drive shaft is determined, and The system includes adjusting the torque of the drive shaft of the vehicle 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 includes a first torque adjustment amount, The torque adjustment value for the vehicle's drive shaft is determined based on the aforementioned vehicle drive parameters. Calculating the wheel-to-wheel rotation speed ratio based on the aforementioned wheel rotation speed, and When the wheel-to-wheel rotation speed ratio is greater than a preset first threshold, the first torque adjustment amount is calculated. The torque of the drive shaft of the vehicle comprises 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 comprises a front axle torque adjustment amount and a rear axle torque adjustment amount, and the torque of the drive shaft of the vehicle is adjusted based on the torque adjustment value. A method comprising controlling the front axle motor to reduce 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, and controlling the rear axle motor to reduce the rear axle torque adjustment amount.

6. A vehicle torque control method, To obtain vehicle drive parameters, Based on the aforementioned vehicle drive parameters, the torque adjustment value for the vehicle's drive shaft is determined, and The system includes adjusting the torque of the drive shaft of the vehicle 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 includes a first torque adjustment amount, The torque adjustment value for the vehicle's drive shaft is determined based on the aforementioned vehicle drive parameters. Calculating the wheel-to-wheel rotation speed ratio based on the aforementioned wheel rotation speed, and When the wheel-to-wheel rotation speed ratio is greater than a preset first threshold, the first torque adjustment amount is calculated. The vehicle drive parameters further comprise vehicle speed, steering wheel rotation angle, and current yaw rate, and the torque adjustment value further comprises a second torque adjustment amount, and the torque adjustment value of the vehicle's drive shaft is determined based on the vehicle drive parameters. Determining the ideal yaw rate based on the rotation angle of the steering wheel and the vehicle speed, and The system further comprises calculating the second torque adjustment amount based on the ideal yaw rate and the current yaw rate. The torque of the drive shaft of the vehicle comprises 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 comprises 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, The front axle torque is adjusted based on the front axle torque adjustment amount, the rear axle torque adjustment amount, and the second torque adjustment amount. Alternatively, the rear axle torque may be adjusted based on the front axle torque adjustment amount, the rear axle torque adjustment amount, and the second torque adjustment amount. Alternatively, the system may be configured to adjust 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 torque of the drive shaft of the vehicle comprises front axle torque and rear axle torque, and the front axle torque is adjusted based on the front axle torque adjustment amount, the rear axle torque adjustment amount and the second torque adjustment amount, or the rear axle torque is adjusted based on the front axle torque adjustment amount, the rear axle torque adjustment amount and the second torque adjustment amount, or the front axle torque and 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, 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 reduce the front axle torque adjustment amount, and the rear axle motor is controlled to reduce the second torque adjustment amount. 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, wherein the first combined torque adjustment amount = k １ *Above rear wheel shaft torque adjustment amount +k ２ * The second torque adjustment amount mentioned above is to control, 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, 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 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 reduce the second combined torque adjustment amount, wherein the second combined torque adjustment amount = k ３ *Above rear wheel shaft torque adjustment amount +k ４ * The second torque adjustment amount is provided to be controlled, In the formula, k １ , k ２ , k ３ and k ４ This is the torque distribution coefficient, by method.

7. A vehicle comprising a processor, 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 6 are performed when the computer program is executed by the processor.

8. A computer-readable storage medium for storing a computer program, wherein the steps of the vehicle torque control method according to any one of claims 1 to 6 are performed when the computer program is executed by a processor.

9. A vehicle comprising a front wheel motor, a rear wheel motor, and a control device, wherein the control device is configured to perform the steps of the vehicle torque control method described in any one of claims 1 to 6.

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