Vehicle control method and apparatus, and computer device and storage medium

Abstract

A vehicle control method, comprising: on the basis of state information of a vehicle, determining a required torque value of the vehicle; on the basis of the required torque value and a preset torque value corresponding to each electric motor, determining a target driving mode from at least two driving modes, wherein the at least two driving modes comprise a single-electric-motor driving mode and a multi-electric-motor driving mode; and on the basis of the target driving mode, controlling the vehicle to travel. Further provided are a vehicle control apparatus, a computer device and a computer-readable storage medium.

Description

Vehicle control method and device, computer equipment and storage medium

[0001] This application claims priority to Chinese patent application No. 202311208333.9 filed on September 18, 2023, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of new energy vehicle motors, and in particular to a vehicle control method and device, computer equipment, and storage medium. Background Art

[0003] With the rapid development of the new energy vehicle industry, the power requirements for new energy vehicles are becoming increasingly demanding. In some scenarios, a single drive system is no longer sufficient to meet the vehicle's power needs. In related technologies, new energy vehicles equipped with multiple drive systems can experience irrational power output distribution, resulting in poor vehicle drive assembly efficiency and increased energy consumption. Technical issues

[0004] In view of this, embodiments of the present application provide a vehicle control method and apparatus, a computer device, and a storage medium. Technical Solutions

[0005] The technical solution of the embodiment of the present application is implemented as follows:

[0006] An embodiment of the present application provides a vehicle control method, the method comprising:

[0007] determining a torque demand value of the vehicle based on vehicle status information;

[0008] Determining a target driving mode from at least two driving modes based on the torque demand value and the preset torque value corresponding to each of the motors; wherein the at least two driving modes include a single-motor driving mode and a multi-motor driving mode;

[0009] Based on the target driving mode, the vehicle is controlled to travel.

[0010] In some embodiments, the target driving mode is determined from at least two driving modes based on the torque demand value and the preset torque value corresponding to each of the motors, including one of the following: when the torque demand value is greater than the preset torque value corresponding to each of the motors, the multi-motor driving mode is used as the target driving mode; when the torque demand value is less than the preset torque value corresponding to each of the motors, the target driving mode is determined from the at least two driving modes based on the maximum output torque value corresponding to each of the motors; wherein the maximum output torque value of each of the motors is related to the temperature of the corresponding motor.

[0011] In the above embodiment, the vehicle driving mode is preliminarily determined by comparing the preset torque value with the vehicle torque demand value. When the vehicle torque demand value is less than the preset torque value, the vehicle driving mode can be further determined based on the maximum output capacity of each motor, thereby refining the vehicle driving determination method and providing the entire vehicle with more diverse and more accurate driving modes, thereby improving the vehicle driving efficiency and enhancing the user's driving experience.

[0012] In some embodiments, when the torque demand value is greater than the preset torque value corresponding to each of the motors, controlling the vehicle driving based on the target driving mode includes: determining the output torque value of each of the motors based on the torque demand value; wherein the difference between the output torque values ​​of each of the motors is within a preset range; and controlling the output torque value corresponding to the output of each of the motors according to the multi-motor driving mode to drive the vehicle.

[0013] In the above embodiment, when the vehicle torque demand value is greater than the preset torque value of the motor, the multiple motors are controlled to output torque to drive the vehicle. At the same time, the torques output by the multiple motors are similar and can be approximately regarded as outputting the same torque. In this way, priority is given to the vehicle's noise, vibration, and harshness (NVH), that is, priority is given to the user's driving experience, so that the intensity of the vehicle's noise, vibration, etc. will be reduced accordingly, and the user's driving experience will be improved.

[0014] In some embodiments, the target driving mode is determined from the at least two driving modes based on the maximum output torque value corresponding to each of the motors, including one of the following: when the maximum output torque value corresponding to each of the motors is less than the torque requirement value, the multi-motor driving mode is used as the target driving mode; when the maximum output torque value corresponding to the first motor is not less than the torque requirement value, the efficiency corresponding to each of the driving modes is determined; the target driving mode is determined based on the efficiency corresponding to each of the driving modes; wherein the first motor is at least one of the at least two motors.

[0015] In the above embodiment, whether the vehicle's driving requirements can be met by a single motor is determined by the maximum torque that each motor can output. If so, the efficiencies of the multi-motor drive and single-motor drive modes are compared, and the drive mode with higher efficiency is determined as the target drive mode, ensuring that the vehicle can travel at the highest efficiency, reducing energy waste, and improving cruising range.

[0016] In some embodiments, determining the efficiency corresponding to each driving mode includes: determining the efficiency corresponding to the single-motor drive based on the efficiency cloud map corresponding to the first motor; determining the output torque value of each motor based on the target torque distribution mode and the torque demand value, and determining the efficiency corresponding to the multi-motor drive based on the efficiency cloud map corresponding to each motor and the output torque value of each motor; wherein, the target torque distribution mode is determined based on a preset corresponding relationship and the torque demand value, and the corresponding relationship includes the relationship between at least one torque demand value and the corresponding torque distribution mode.

[0017] In the above embodiment, the efficiency of the single-machine driving mode is determined by the efficiency cloud map, and the torque output by each motor when multiple motors are output is determined by the target torque distribution method and the torque demand value, and then the efficiency of each motor is determined to determine the efficiency of the multi-motor driving mode. For the calculation of the efficiency of different driving modes, the vehicle itself does not need to do too much calculation. After determining the torque demand value, it is only necessary to determine the efficiency of different driving modes based on preset information, such as the efficiency cloud map and the preset corresponding relationship, thereby improving the response speed of the vehicle and enabling the vehicle to complete the determination and switching of the driving mode more quickly.

[0018] In some embodiments, the target driving mode is determined based on the efficiency corresponding to each driving mode, including one of the following: when the efficiency corresponding to the single-motor driving mode is greater than the efficiency corresponding to the multi-motor driving mode, the single-motor driving mode is used as the target driving mode; when the efficiency corresponding to the single-motor driving mode is less than the efficiency corresponding to the multi-motor driving mode, the multi-motor driving mode is used as the target driving mode.

[0019] In the above embodiment, by determining a more efficient driving mode as the target driving mode, the vehicle can travel with higher efficiency, thereby improving the energy utilization rate of the entire vehicle and increasing the vehicle's cruising range.

[0020] In some embodiments, controlling the vehicle driving based on the target driving mode includes: when the target driving mode includes the single-motor driving mode, using the torque demand value as the output torque value of the second motor, and controlling the second motor to output the corresponding output torque value according to the single-motor driving mode to drive the vehicle to drive; wherein, the second motor is determined based on the first motor; when the target driving mode includes the multi-motor driving mode, determining the target torque distribution mode that matches the torque demand value based on a preset corresponding relationship; determining the output torque value of each of the motors based on the target torque distribution mode and the torque demand value; and controlling the output of each of the motors to output the corresponding output torque value according to the multi-motor driving mode to drive the vehicle to drive.

[0021] In the above embodiment, in the single-motor drive mode, the single motor is directly controlled to output the required torque to drive the vehicle, while in the multi-motor drive mode, the torque distribution method corresponding to the vehicle torque demand value at this time is determined based on a preset corresponding relationship, and each motor is controlled to output torque according to the distribution method. A different torque distribution method is provided for each drive mode, thereby improving the efficiency of the vehicle drive assembly.

[0022] An embodiment of the present application provides a vehicle control device, which is applied to a vehicle including at least two motors. The device includes a vehicle control unit and a motor controller, wherein:

[0023] The vehicle control unit is configured to determine a torque demand value of the vehicle based on vehicle status information;

[0024] The motor controller is used to determine a target driving mode from at least two driving modes based on the torque demand value and the preset torque value corresponding to each of the motors; and control the vehicle driving based on the target driving mode; wherein the at least two driving modes include a single-motor driving mode and a multi-motor driving mode.

[0025] In the above embodiment, the vehicle control unit calculates the torque demand value required by the vehicle based on the vehicle status information, and sends the torque demand value to the motor controller. The motor controller controls the motor to output torque in different ways based on the torque demand and the preset torque value of the motor, thereby driving the vehicle. Through the cooperation between the vehicle control unit and the motor controller, the current driving mode of the vehicle can be quickly determined, and the driving mode that best suits the current scenario can be adapted, taking into account both user experience and vehicle driving efficiency.

[0026] An embodiment of the present application provides a computer device, which includes a processor and a memory, wherein the memory stores a computer program, and when the processor executes the computer program, the method in the above embodiment is implemented.

[0027] An embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method in the above embodiment is implemented. Beneficial effects

[0028] The technical solution provided in the embodiment of the present application determines the driving mode of the vehicle by comparing the torque required by the vehicle with the preset torque, and drives the vehicle in different driving modes according to different load conditions of the vehicle, so that the vehicle can adapt to various operating environments, while taking into account the user's driving experience and the efficiency of the vehicle's motor operation. While the efficiency of the vehicle's motor operation is improved, its reliability and durability are also greatly improved.

[0029] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and do not limit the technical solutions of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The drawings herein are incorporated into and constitute a part of the specification. These drawings illustrate embodiments consistent with the present application and, together with the specification, are used to illustrate the technical solutions of the present application.

[0031] FIG1 is a schematic flow chart of a vehicle control method provided in an embodiment of the present application;

[0032] FIG2 is a schematic flow chart of a vehicle control method provided in an embodiment of the present application;

[0033] FIG3 is a schematic flow chart of a vehicle control method provided in an embodiment of the present application;

[0034] FIG4 is a schematic flow chart of a vehicle control method provided in an embodiment of the present application;

[0035] FIG5 is a schematic flow chart of a vehicle control method provided in an embodiment of the present application;

[0036] FIG6 is a schematic diagram of an efficiency cloud diagram of a motor of a vehicle provided in an embodiment of the present application;

[0037] FIG7 is a schematic flow chart of a vehicle control method provided in an embodiment of the present application;

[0038] FIG8 is a schematic flow chart of a vehicle control method provided in an embodiment of the present application;

[0039] FIG9 is a schematic flow chart of a vehicle control method provided in an embodiment of the present application;

[0040] FIG10 is a schematic diagram of the structure of a vehicle control device provided in an embodiment of the present application;

[0041] FIG11 is a schematic diagram of a hardware entity of a computer device provided in an embodiment of the present application. Modes for Carrying Out the Invention

[0042] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions of this application are further elaborated in detail below with reference to the accompanying drawings and embodiments. The described embodiments should not be regarded as limiting this application. All other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0043] In the following description, references to "some embodiments" describe a subset of all possible embodiments. However, it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict. The terms "first" and "second" are used merely to distinguish similar objects and do not represent a specific ordering of the objects. It is understood that the specific order or sequence of "first" and "second" may be interchanged where permitted, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing this application only and are not intended to limit this application.

[0045] With the rapid development of the new energy vehicle industry, the power requirements for new energy vehicles are becoming increasingly demanding. During vehicle operation, efficiency, noise, vibration, and harshness (NVH), as well as reliability and durability, must be considered simultaneously. Improper torque distribution between the two motors can lead to poor electric drive system efficiency, increased vehicle power consumption, and a shortened all-electric driving range. For example, excessive torque output from a single motor can cause NVH imbalance. For example, consistently using only one motor for driving can result in inconsistent wear on the bearings of the two motors, impacting the reliability and durability of the electric drive system.

[0046] The present application provides a vehicle control method that determines the vehicle's driving mode by comparing the vehicle's required torque with a preset torque. The method then drives the vehicle in different driving modes for different vehicle load conditions, enabling the vehicle to adapt to a variety of operating environments while simultaneously balancing the user's driving experience and the efficiency of the vehicle's motor. This significantly improves the reliability and durability of the vehicle's motor while improving its operating efficiency. The method provided in the present application can be executed by a processor in a computer device. The computer device may include a server, laptop, tablet computer, desktop computer, mobile device (e.g., mobile phone, personal digital assistant, dedicated messaging device), or other device with data processing capabilities.

[0047] FIG1 is a flow chart of a vehicle control method provided by an embodiment of the present application. As shown in FIG1 , the method may include steps S101 to S103, wherein:

[0048] Step S101: Determine a torque demand value of the vehicle based on vehicle status information.

[0049] In some embodiments, the vehicle status information includes but is not limited to the vehicle's air conditioning usage, the load of other onboard electrical appliances, the position of the vehicle's accelerator pedal, etc. Based on the aforementioned vehicle status information, the power demand of the entire vehicle is determined, and then the total torque demand value of the vehicle is determined based on the speed of the vehicle's motor and the power demand of the entire vehicle at that time. It should be noted that the vehicle's accelerator pedal is actually used to control the vehicle's power output. It can be understood that the greater the amplitude of the accelerator pedal's depression, the more power the vehicle needs to output. Therefore, the power demand of the vehicle for driving can be determined based on the position of the accelerator pedal. In addition, the power of the air conditioner and other onboard electrical appliances can be determined by their corresponding voltage and current. For example, onboard electrical appliances can include but are not limited to onboard refrigerators, onboard audio, onboard navigation equipment, etc., and the power consumption of different models of onboard equipment will also be different, which can be determined based on actual conditions.

[0050] It should be noted that a vehicle's air conditioning system may consume different amounts of energy when operating in different states. For example, the energy consumed for cooling a vehicle differs significantly when the ambient temperature is 35°C or 30°C. The greater the difference between the ambient and cooling temperatures, the more energy the air conditioning consumes. Conversely, for heating, the greater the difference between the ambient and heating temperatures, the more energy the air conditioning consumes. Furthermore, since the motor generates heat while the vehicle is in motion, this heat can be used for heating. Therefore, the energy consumed by the air conditioning for heating while the vehicle is in motion is slightly less than when the vehicle is parked.

[0051] Based on the above embodiment, by combining multiple factors to calculate the total power demand of the vehicle and then converting the power demand into a torque demand value, the total torque that the vehicle motor needs to output can be determined more accurately, so that the output of the subsequent motor can just meet the needs of the vehicle, avoiding insufficient motor output causing the vehicle to fail to operate normally or excessive output causing energy waste, providing a prerequisite for subsequent control of motor output and thus improving the driving efficiency of the entire vehicle.

[0052] Step S102 : determining a target driving mode from at least two driving modes based on the torque demand value and the preset torque value corresponding to each of the motors.

[0053] The at least two driving modes include a single-motor driving mode and a multi-motor driving mode.

[0054] In some embodiments, the multiple motors can be identical, each corresponding to the same preset torque value. The preset torque value is related to NVH and vehicle efficiency. Specifically, vehicle NVH can be divided into three main components: engine NVH, body NVH, and chassis NVH. This can be further subdivided into aerodynamic NVH, air conditioning system NVH, road NVH, and braking system NVH. Acoustic harshness, also known as harshness or impact characteristics, is related to the transient nature of vibration and noise. It describes the subjective perception of vibration and noise and cannot be directly measured using objective methods. The comfort experienced by passengers in a vehicle, as well as the strength and lifespan of automotive components caused by vibration, fall under the purview of NVH. From an NVH perspective, a vehicle is a system consisting of an excitation source (engine, transmission, etc.), a vibration transmitter (consisting of the suspension system and connectors), and a noise emitter (the vehicle body). It is understood that since NVH cannot be represented by a single metric but rather encompasses multiple components, the preset torque value can be determined by pre-testing the motor and analyzing the test data. It can be considered that when the vehicle's torque demand value is greater than the preset torque value, the vehicle is in a high-load state, such as when driving at high speed, climbing a slope, or when the vehicle is fully occupied. In this case, the vehicle's NVH is prioritized. When the vehicle's torque demand value is less than the preset torque value, the vehicle is in a low-load state, such as when stuck in traffic, driving at low speed for a long time, or when the vehicle is lightly loaded. In this case, the vehicle's efficiency is prioritized.

[0055] It should be noted that no matter whether it is driven by multiple motors or a single motor, the rotation speeds of the multiple motors are consistent. In this case, the motors can output torque in any proportion.

[0056] Based on the above embodiment, by determining a preset torque value and comparing the vehicle torque demand value with it, the load state of the vehicle can be determined, and different motor output modes can be determined for different states, providing a variety of driving modes for the entire vehicle, so that the vehicle can adapt well to different driving environments.

[0057] Step S103: Control the vehicle to travel based on the target driving mode.

[0058] In some embodiments, when the target drive mode is single-motor drive, the output torque requirement value may be selected from any motor whose maximum output torque value is greater than or equal to the required torque value. Furthermore, multiple motors whose maximum output torque values ​​are greater than or equal to the required torque value may alternately output the required torque value. When the target drive mode is multi-motor drive, the required torque value may be evenly distributed among the multiple motors, or the multiple motors may output torque in any proportion, with the sum of the output torques being the required torque value.

[0059] Based on the above embodiment, the vehicle's driving mode is determined by comparing the vehicle's required torque with the preset torque. The vehicle is driven in different driving modes according to different vehicle load conditions, so that the vehicle can adapt to various operating environments. At the same time, the user's driving experience and the efficiency of the vehicle's motor operation are taken into account. While the vehicle's motor operating efficiency is improved, its reliability and durability are also greatly improved.

[0060] In some embodiments, step S102 includes one of the following: when the torque demand value is greater than the preset torque value corresponding to each of the motors, the multi-motor driving mode is used as the target driving mode; when the torque demand value is less than the preset torque value corresponding to each of the motors, the target driving mode is determined from the at least two driving modes based on the maximum output torque value corresponding to each of the motors.

[0061] The maximum output torque value of each motor is related to the temperature of the corresponding motor.

[0062] FIG2 is a flow chart of a vehicle control method provided by an embodiment of the present application. Based on FIG1 , step S102 in FIG1 can be updated to step S1021 or step S1022. The method is described in conjunction with the steps shown in FIG2 . The method includes the following steps:

[0063] Step S101: Determine a torque demand value of the vehicle based on vehicle status information.

[0064] Step S1021 : When the torque demand value is greater than the preset torque value corresponding to each of the motors, use the multi-motor driving mode as the target driving mode.

[0065] In some embodiments, each motor has the same preset torque value. When the torque demand value exceeds the preset torque value, the vehicle is deemed to be in a high-load state, and the multi-motor drive mode is directly used as the target drive mode to drive the vehicle. For example, in this embodiment, the multi-motor drive mode does not limit the output ratio of the multiple motors; it only indicates that all multiple motors on the vehicle have torque output.

[0066] Based on the above embodiments, the vehicle can be directly driven by a multi-motor drive mode when the vehicle is in a high-load state. At the same time, compared with the single-motor drive mode, the multi-motor drive mode reduces the output burden of a single motor under high-load conditions, and the noise and vibration of the vehicle will also be reduced accordingly, thereby improving the user's driving experience and increasing the service life of the motor.

[0067] Step S1022: When the torque demand value is less than the preset torque value corresponding to each of the motors, determine the target driving mode from the at least two driving modes based on the maximum output torque value corresponding to each of the motors.

[0068] The maximum output torque value of each motor is related to the temperature of the corresponding motor.

[0069] In some embodiments, each motor has the same preset torque value. If the torque demand is less than the preset torque value, the vehicle is considered to be in a low-load state. In this case, the target drive mode can be determined based on the maximum output torque of each motor. Specifically, when the vehicle is in a low-load state, even a single motor may be able to meet the vehicle's torque demand. In this case, multi-motor drive or single-motor drive can be used based on user demand or automatic system control. When single-motor drive cannot meet the vehicle's torque demand, multi-motor drive is required. It should be noted that the temperature of the motors rises during vehicle operation, and their output capacity may change with increasing motor temperature. Although multiple motors in a vehicle may be of the same type, their output capacity may vary due to temperature differences. For example, a motor may have a maximum output power of 200 kW and a maximum torque of 320 N·m at 130°C. When the motor temperature exceeds 130°C, its output capacity decreases linearly until the motor temperature reaches 140°C, at which point the motor ceases to operate and cannot output normally.

[0070] Based on the above embodiment, when the vehicle is in a low-load state, the target driving mode is determined based on the maximum output capacity of each motor. When both modes are available, the target driving mode can be determined based on actual conditions, thereby improving the flexibility and maneuverability of vehicle driving. The driving mode can be changed according to different demand conditions, and the maximum output capacity of the motor is determined in combination with the motor temperature to avoid damage to the motor due to excessive output, while also improving the safety of the vehicle during operation.

[0071] Step S103: Control the vehicle to travel based on the target driving mode.

[0072] In some embodiments, when the torque demand value is greater than the preset torque value corresponding to each of the motors, step S103 includes: determining the output torque value of each of the motors based on the torque demand value; and controlling the output torque value corresponding to the output of each of the motors according to the multi-motor driving mode to drive the vehicle.

[0073] Wherein, the difference between the output torque values ​​of each of the motors is within a preset range.

[0074] FIG3 is a flow chart of a vehicle control method provided by an embodiment of the present application. Based on FIG2 , step S103 in FIG2 can be updated to steps S1031 to S1032. The method is described in conjunction with the steps shown in FIG3 . The method includes the following steps:

[0075] Step S101: Determine a torque demand value of the vehicle based on vehicle status information.

[0076] Step S1021 : When the torque demand value is greater than the preset torque value corresponding to each of the motors, use the multi-motor driving mode as the target driving mode.

[0077] Step S1031 : Determine the output torque value of each of the motors based on the torque demand value.

[0078] In some embodiments, each of the motors has an identical output torque value, and the sum of the output torque values ​​of the multiple motors is the torque demand value. In practical applications, the torque outputs of the motors are completely averaged. Therefore, when the difference in torque values ​​between the motors is within a preset range, the torque outputs of the multiple motors are considered to be identical. The preset range can be determined based on the control accuracy of the motor controller, the motor model, or actual conditions, and is not limited here.

[0079] Based on the above embodiment, when it is determined that the vehicle is driven in a multi-motor mode, controlling the average output required torque value of multiple motors can balance the operating burden of each motor of the vehicle, put the driver in a more comfortable driving state, and improve the driving experience.

[0080] Step S1032: According to the multi-motor driving mode, control each motor to output a corresponding output torque value to drive the vehicle.

[0081] In some embodiments, because the vehicle's transmission process can experience certain power losses due to factors such as friction, and the motor's output torque cannot be absolutely uniform, the actual output torque value of the motor can be slightly greater than its corresponding output torque. For example, an additional 1% of the corresponding torque value can be output. The specific value can be determined based on actual conditions and is provided here for illustrative purposes only. Furthermore, multiple motors can be controlled by a single motor controller, or by a motor controller specific to each motor, allowing for fine-tuning of the output of a single motor without affecting the output of other motors.

[0082] Based on the above embodiment, after determining the output torque value corresponding to each of the motors, the output of each motor is controlled to drive the vehicle, and fine-tuning can be performed on a single motor, thereby improving the controllability of the vehicle motor and thereby improving the controllability of the entire vehicle.

[0083] FIG4 is a flow chart of a vehicle control method provided in an embodiment of the present application. Based on FIG2 , step S1022 in FIG2 can be updated to step S221 or step S222. The method is described in conjunction with the steps shown in FIG4 . The method includes the following steps:

[0084] Step S101: Determine a torque demand value of the vehicle based on vehicle status information.

[0085] Step S221 : When the maximum output torque value corresponding to each of the motors is less than the torque requirement value, the multi-motor driving mode is used as the target driving mode.

[0086] In some embodiments, the maximum torque value corresponding to each motor is less than the torque demand value, indicating that the output capacity of any motor in the vehicle cannot meet the torque demand, necessitating the output of multiple motors to drive the vehicle. It should be noted that in this embodiment, when the vehicle is driven by multiple motors, each motor in the vehicle can output torque, or only some motors can output torque. The specific output method is not limited in this embodiment; it only states that the number of motors outputting torque in a multi-motor drive mode is greater than or equal to two and less than or equal to the total number of motors in the vehicle. Furthermore, when the vehicle is in a multi-motor drive mode, the operating motors can be adjusted so that they rotate in operation. For example, with motors A, B, C, and D, motors A and B can be operated for a period of time before switching to motors C and D. Alternatively, motors A, B, and C can be operated for a period of time before motors A, B, and D are switched in, with multiple motors operating in alternating order. In practice, various alternating operation methods can be employed; the above examples are provided for illustrative purposes only.

[0087] Based on the above embodiment, when the vehicle cannot be driven by a single motor, the vehicle is adjusted to be driven by multiple motors, which can timely relieve the load pressure of the working motor. At the same time, multiple motors can also work alternately, further alleviating the load pressure of the motor, so that all motors of the entire vehicle can work in a good operating state.

[0088] Step S222: When the maximum output torque value corresponding to the first motor is not less than the torque demand value, determine the efficiency corresponding to each driving mode; and determine the target driving mode based on the efficiency corresponding to each driving mode.

[0089] Wherein, the first motor is at least one motor among the at least two motors.

[0090] In some embodiments, the first motor refers to a motor whose maximum output torque value is not less than the torque demand value among at least two motors. The first motor can be one motor or multiple motors. For each motor, its maximum output torque at different temperatures may change. The efficiency corresponding to each of the driving modes includes the efficiency of single-motor driving and the efficiency of multi-motor driving. Among them, the efficiency of single-motor driving can be determined by first obtaining the efficiency of all motors whose maximum output torque is not less than the required torque when outputting the required torque, and determining the highest efficiency as the efficiency of single-motor driving. The efficiency of multiple motors can be determined by determining the highest efficiency that can be achieved when multiple motors jointly output the required torque under different torque output distribution modes as the efficiency of multiple motors. Based on the efficiency corresponding to each of the driving modes, the driving mode with the highest efficiency can be determined as the target driving mode. When there are multiple driving modes with the same efficiency, the driving mode with the best NVH can be determined as the target driving mode.

[0091] Based on the above embodiment, by first determining the efficiency of each driving mode and then determining the target driving mode based on the efficiency, the efficiency of vehicle driving is given priority, the energy utilization rate of the entire vehicle is improved, the saved energy can be stored, the frequency of users charging the vehicle is reduced, and the user experience is improved.

[0092] Step S103: Control the vehicle to travel based on the target driving mode.

[0093] FIG5 is a flow chart of a vehicle control method provided by an embodiment of the present application. Based on FIG4 , step S222 in FIG4 can be updated to step S2221. The method is described in conjunction with the steps shown in FIG5 . The method includes the following steps:

[0094] Step S101: Determine a torque demand value of the vehicle based on vehicle status information.

[0095] Step S221 : When the maximum output torque value corresponding to each of the motors is less than the torque requirement value, the multi-motor driving mode is used as the target driving mode.

[0096] Step S2221: When the maximum output torque value corresponding to the first motor is not less than the torque demand value, the efficiency corresponding to the single-motor drive is determined based on the efficiency cloud map corresponding to the first motor; based on the target torque distribution method and the torque demand value, the output torque value of each of the motors is determined, and based on the efficiency cloud map corresponding to each of the motors and the output torque value of each of the motors, the efficiency corresponding to the multi-motor drive is determined; based on the efficiency corresponding to each of the driving methods, the target driving method is determined.

[0097] The target torque distribution mode is determined based on a preset corresponding relationship and the torque demand value, and the corresponding relationship includes a relationship between at least one torque demand value and a corresponding torque distribution mode.

[0098] In some embodiments, the efficiency corresponding to a single-motor drive can be determined based on an efficiency cloud map corresponding to the first motor. FIG6 is a schematic diagram of an efficiency cloud map for a motor of a vehicle provided in an embodiment of the present application. FIG6 illustrates the efficiency of the motor under different operating conditions. The motor efficiency gradually increases from region 1 to region 2. Within each region, the efficiency of operating points near the center of the region is higher than that of operating points near the region boundary. The motor's operating condition can be reflected by its speed and torque; that is, each operating point corresponds to a set of torque and speed. For motors of the same type, their efficiency cloud maps can be identical and can be obtained through pre-testing or testing. This embodiment does not limit the method for obtaining the efficiency cloud map. Thus, the efficiency of each motor in a single-motor drive mode can be determined. For a multi-motor drive mode, the torque values ​​output by each motor can be first allocated based on a target torque distribution method, and then the efficiency of the multi-motor drive mode can be calculated. For example, the target torque distribution method is determined based on a preset correspondence relationship and a torque demand value, which is also determined through pre-testing or simulation. For example, a vehicle has two motors and the current torque demand is 150 N·M. The corresponding torque distribution method is that motor 1 outputs 90 N·M and motor 2 outputs 60 N·M. If the efficiency of motor 1 is 85% and the efficiency of motor 2 is 80%, the efficiency of the multi-motor drive can be calculated as shown in formula 1.

[0099] (Formula 1)

[0100] Where η represents the efficiency of the multi-motor drive.

[0101] Based on the above embodiment, the efficiency of the single-motor drive is determined by the efficiency cloud map, and then the torque value of the multi-motor output is determined in combination with the target allocation method, and then the efficiency of the multi-motor drive method is determined. Since the efficiency cloud map and the corresponding relationship can be obtained through pre-testing or experimentation, in the actual operation of the vehicle, it is only necessary to call the efficiency cloud map and the corresponding relationship to quickly determine the efficiency of each drive mode, thereby improving the response speed of the vehicle and enabling faster switching of the drive mode under complex road conditions.

[0102] Step S103: Control the vehicle to travel based on the target driving mode.

[0103] FIG7 is a flow chart of a vehicle control method provided by an embodiment of the present application. Based on FIG4 , step S222 in FIG4 can be updated to step S2223 or step S2224. The method is described in conjunction with the steps shown in FIG7 . The method includes the following steps:

[0104] Step S101: Determine a torque demand value of the vehicle based on vehicle status information.

[0105] Step S221 : When the maximum output torque value corresponding to each of the motors is less than the torque requirement value, the multi-motor driving mode is used as the target driving mode.

[0106] Step S2223: When the maximum output torque value corresponding to the first motor is not less than the torque demand value, determine the efficiency corresponding to each driving mode; when the efficiency corresponding to the single-motor driving mode is greater than the efficiency corresponding to the multi-motor driving mode, use the single-motor driving mode as the target driving mode.

[0107] In some embodiments, when the efficiency of a single-motor drive mode is greater than that of a multi-motor drive mode, the vehicle may be driven by a single motor. For example, if the efficiency of a single motor is 85% while the efficiency of multiple motors is 75% when delivering the required torque, the efficiency of the single motor is significantly higher than that of the multiple motors, and the single-motor drive mode is determined to be the target drive mode.

[0108] Step S2224: When the maximum output torque value corresponding to the first motor is not less than the torque demand value, determine the efficiency corresponding to each driving mode; when the efficiency corresponding to the single-motor driving mode is less than the efficiency corresponding to the multi-motor driving mode, use the multi-motor driving mode as the target driving mode.

[0109] In some embodiments, when the efficiency of a single-motor drive mode is greater than that of a multi-motor drive mode, the vehicle may be driven by multiple motors. For example, if the efficiency of a single-motor drive mode is 80% and the efficiency of multiple motors is 90%, the multi-motor drive mode may be selected as the target drive mode. It should be noted that if the efficiency of a single-motor drive mode and a multi-motor drive mode are similar or equal, the multi-motor drive mode or the drive mode with better NVH performance may be selected as the target drive mode.

[0110] Based on the above embodiments, by comparing the efficiency of single-motor drive and multi-motor drive, the target drive mode is determined, that is, the drive mode with higher efficiency is determined. When the efficiency is the same, multi-motor drive is considered to reduce the load burden of a single motor, or a drive mode with better NVH is selected. While considering the efficiency, the loss of the motor and the user's driving experience are also taken into account, thereby improving the energy utilization efficiency of the entire vehicle and extending the service life of the motor.

[0111] Step S103: Control the vehicle to travel based on the target driving mode.

[0112] FIG8 is a flow chart of a vehicle control method provided by an embodiment of the present application. Based on FIG4 , FIG5 , or FIG7 , step S103 can be updated to step S1033 or step S1034. The method is described in conjunction with the steps shown in FIG8 . The method includes the following steps:

[0113] Step S1033: When the target driving mode includes the single-motor driving mode, the torque demand value is used as the output torque value of the second motor, and the second motor is controlled to output the corresponding output torque value according to the single-motor driving mode to drive the vehicle.

[0114] The second motor is determined based on the first motor.

[0115] In some embodiments, a second motor is controlled to output a torque demand value, wherein the second motor can be any one of the first motors. For example, if the first motor includes multiple motors, the multiple motors can be controlled to output alternately, i.e., after controlling any one of the first motors to output for a preset time, the output is switched to any other one of the first motors.

[0116] Based on the above embodiment, when the target driving mode is single-machine driving, the single motor is controlled to output the required torque value. At the same time, in order to reduce the different degrees of wear of multiple motors caused by long-term operation of a single motor, other motors can be switched to output after a period of time, thereby balancing the wear degree of each motor.

[0117] Step S1034: When the target driving mode includes the multi-motor driving mode, based on a preset corresponding relationship, determine a target torque distribution mode that matches the torque demand value; based on the target torque distribution mode and the torque demand value, determine the output torque value of each of the motors; and according to the multi-motor driving mode, control the output torque value corresponding to each of the motors to drive the vehicle.

[0118] In some embodiments, when the target driving mode is a multi-motor driving mode, the output torque of each motor is determined based on the target distribution mode, and the output of the multiple motors is controlled. For example, if the vehicle has two motors: motor 1 and motor 2. At this time, the torque demand value of the vehicle is 200N·M. Based on the target distribution mode, one motor should be controlled to output 120N·M and the other motor should be controlled to output 80N·M. At this time, motor 1 can be controlled to output 120N·M and motor 2 can be controlled to output 80N·M. After a preset time, the output torque of motor 1 and motor 2 are exchanged, that is, motor 1 outputs 80N·M and motor 2 outputs 120N·M. It can be understood that when each motor of the vehicle outputs torque, the torque value output by each motor can be exchanged after the motor has run for a preset time, so as to keep the total output torque value unchanged.

[0119] Based on the above embodiment, in a multi-motor drive mode, while controlling motor output torque based on a target allocation approach, consideration is also given to the fact that long-term operation of two motors with different output torques can result in varying degrees of wear between the motors. Therefore, by swapping the output torques between the multiple motors, the average output torque of each motor is kept close during vehicle operation without changing the total torque output by all motors at any given moment. This ensures that the vehicle's torque requirements are met while also extending the motor's service life.

[0120] Below, we will explain an exemplary application of the embodiment of the present application in a practical application scenario. Figure 9 is a flow chart of a vehicle control method provided by an embodiment of the present application. The method further includes steps S1 to S7. The steps shown in Figure 9 are explained in conjunction with the steps shown in Figure 9. The method includes the following steps:

[0121] Step S1: Calculate the power requirement of the vehicle based on the accelerator pedal position, air conditioning, electrical loads, etc.

[0122] Step S2: The motor controller calculates the required torque value of the vehicle according to the power requirement.

[0123] Step S3: If the vehicle's required torque value is greater than the preset torque value, the dual motors output the same torque.

[0124] Step S4: If the vehicle required torque value is less than the preset torque value, the maximum output capacity of the single motor is calculated according to the real-time motor temperature.

[0125] Step S5: If the vehicle's required torque value is less than the preset torque value and the vehicle's required torque value is greater than the maximum output torque of a single motor, the motor controller calculates the optimal torque distribution and uses dual-motor drive.

[0126] Step S6: If the vehicle demand torque value is less than the preset torque value, and the vehicle demand torque is less than the maximum output torque of the single motor, and the single motor drive efficiency is the highest, then use the single motor drive.

[0127] Step S7: If the vehicle's required torque value is less than the preset torque value, and the vehicle's power demand is less than the maximum output torque of a single motor, but dual-motor drive has the highest efficiency, the motor controller calculates the optimal torque distribution and uses dual-motor drive.

[0128] Based on the above embodiments, the present invention further provides a vehicle control device. FIG10 is a schematic diagram of the structure of a vehicle control device provided by the present invention. The vehicle control device includes a vehicle control unit 201 and a motor controller 202.

[0129] The vehicle control unit 201 is configured to determine a torque demand value of the vehicle based on vehicle status information;

[0130] The motor controller 202 is used to determine a target driving mode from at least two driving modes based on the torque demand value and the preset torque value corresponding to each of the motors; and control the vehicle driving based on the target driving mode; wherein the at least two driving modes include a single-motor driving mode and a multi-motor driving mode.

[0131] In some embodiments, the motor controller 202 is further used to use the multi-motor driving mode as the target driving mode when the torque demand value is greater than the preset torque value corresponding to each of the motors; and to determine the target driving mode from the at least two driving modes based on the maximum output torque value corresponding to each of the motors when the torque demand value is less than the preset torque value corresponding to each of the motors; wherein the maximum output torque value of each of the motors is related to the temperature of the corresponding motor.

[0132] In some embodiments, the motor controller 202 is further used to determine the output torque value of each of the motors based on the torque demand value; wherein the difference between the output torque values ​​of each of the motors is within a preset range; and according to the multi-motor driving mode, the output torque value corresponding to the output of each of the motors is controlled to drive the vehicle.

[0133] In some embodiments, the motor controller 202 is also used to use the multi-motor driving mode as the target driving mode when the maximum output torque value corresponding to each of the motors is less than the torque requirement value; determine the efficiency corresponding to each of the driving modes when the maximum output torque value corresponding to the first motor is not less than the torque requirement value; and determine the target driving mode based on the efficiency corresponding to each of the driving modes; wherein the first motor is at least one of the at least two motors.

[0134] In some embodiments, the motor controller 202 is also used to determine the efficiency corresponding to the single-motor drive based on the efficiency cloud map corresponding to the first motor; determine the output torque value of each of the motors based on the target torque distribution method and the torque demand value, and determine the efficiency corresponding to the multi-motor drive based on the efficiency cloud map corresponding to each of the motors and the output torque value of each of the motors; wherein the target torque distribution method is determined based on a preset corresponding relationship and the torque demand value, and the corresponding relationship includes the relationship between at least one torque demand value and the corresponding torque distribution method.

[0135] In some embodiments, the motor controller 202 is further used to use the single-motor driving mode as the target driving mode when the efficiency corresponding to the single-motor driving mode is greater than the efficiency corresponding to the multi-motor driving mode; and to use the multi-motor driving mode as the target driving mode when the efficiency corresponding to the single-motor driving mode is less than the efficiency corresponding to the multi-motor driving mode.

[0136] In some embodiments, the motor controller 202 is further used to, when the target driving mode includes the single-motor driving mode, use the torque demand value as the output torque value of the second motor, and control the second motor to output the corresponding output torque value according to the single-motor driving mode to drive the vehicle; wherein, the second motor is determined based on the first motor; when the target driving mode includes the multi-motor driving mode, determine the target torque distribution mode that matches the torque demand value based on a preset corresponding relationship; determine the output torque value of each of the motors based on the target torque distribution mode and the torque demand value; and control the output of each of the motors to output the corresponding output torque value according to the multi-motor driving mode to drive the vehicle.

[0137] The description of the above device embodiment is similar to the description of the above method embodiment and has similar effects as the method embodiment. In some embodiments, the functions or modules included in the device provided in the embodiment of the present application can be used to perform the method described in the above method embodiment. For technical details not disclosed in the device embodiment of the present application, please refer to the description of the method embodiment of the present application for understanding.

[0138] It should be noted that in the embodiments of the present application, if the above-mentioned operating mode update method is implemented in the form of a software function module and is sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiments of the present application, or the part that contributes to the relevant technology, can be embodied in the form of a software product. The software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a magnetic disk, or an optical disk. In this way, the embodiments of the present application are not limited to any specific hardware, software, or firmware, or any combination of hardware, software, and firmware.

[0139] An embodiment of the present application provides a computer device, including a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the program, some or all of the steps in the above method are implemented.

[0140] The present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements some or all of the steps in the above method. The computer-readable storage medium may be transient or non-transient.

[0141] An embodiment of the present application provides a computer program, including computer-readable code. When the computer-readable code is run in a computer device, a processor in the computer device executes some or all of the steps for implementing the above method.

[0142] An embodiment of the present application provides a computer program product, comprising a non-transitory computer-readable storage medium storing a computer program. When the computer program is read and executed by a computer, the computer program implements some or all of the steps of the above-described method. The computer program product can be implemented in hardware, software, or a combination thereof. In some embodiments, the computer program product is embodied as a computer storage medium. In other embodiments, the computer program product is embodied as a software product, such as a software development kit (SDK).

[0143] It should be noted that the descriptions of the various embodiments above tend to emphasize the differences between the various embodiments, and their similarities or similarities can be referenced to each other. The descriptions of the above device, storage medium, computer program, and computer program product embodiments are similar to the descriptions of the above method embodiments and have similar effects to the method embodiments. For technical details not disclosed in the embodiments of the device, storage medium, computer program, and computer program product of this application, please refer to the description of the method embodiments of this application for understanding.

[0144] Figure 11 is a schematic diagram of the hardware entity of a computer device provided in an embodiment of the present application. As shown in Figure 11, the hardware entity of the computer device 1000 includes: a processor 1001 and a memory 1002, wherein the memory 1002 stores a computer program that can be run on the processor 1001, and when the processor 1001 executes the program, the steps in the method of any of the above embodiments are implemented.

[0145] The memory 1002 stores computer programs that can be run on the processor. The memory 1002 is configured to store instructions and applications that can be executed by the processor 1001. It can also cache data to be processed or processed by the processor 1001 and various modules in the computer device 1000. This can be achieved through flash memory (FLASH) or random access memory (RAM).

[0146] When the processor 1001 executes the program, the steps of any of the above operation mode update methods are implemented. The processor 1001 generally controls the overall operation of the computer device 1000.

[0147] An embodiment of the present application provides a computer storage medium, which stores one or more programs. The one or more programs can be executed by one or more processors to implement the steps of the operating mode updating method of any of the above embodiments.

[0148] It should be noted that the description of the above storage medium and device embodiments is similar to the description of the above method embodiments and has similar effects as the method embodiments. For technical details not disclosed in the storage medium and device embodiments of this application, please refer to the description of the method embodiments of this application for understanding.

[0149] The processor may be at least one of an application-specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), a field programmable gate array (FPGA), a central processing unit (CPU), a controller, a microcontroller, and a microprocessor. It is understood that the electronic device that implements the functions of the processor may also be other electronic devices, and the embodiments of the present application are not specifically limited thereto.

[0150] The above-mentioned computer storage medium / memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory (Flash Memory), a magnetic surface storage device, an optical disc, or a compact disc read-only memory (CD-ROM); it can also be various terminals that include one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc.

[0151] It should be understood that "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned steps / processes does not mean the order of execution, and the execution order of each step / process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The above-mentioned serial numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments.

[0152] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0153] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0154] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed across multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the scheme of this embodiment.

[0155] In addition, the functional units in the various embodiments of the present application may all be integrated into a single processing unit, or each unit may be independently configured as a unit, or two or more units may be integrated into a single unit; the aforementioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units. A person skilled in the art will appreciate that all or part of the steps in implementing the aforementioned method embodiments may be accomplished by hardware associated with program instructions, and the aforementioned program may be stored in a computer-readable storage medium. When the program is executed, the program executes the steps of the aforementioned method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as a mobile storage device, a read-only memory (ROM), a magnetic disk, or an optical disk.

[0156] Alternatively, if the above-mentioned integrated unit of the present application is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the relevant technology, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: various media that can store program code, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0157] The above is only an implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed in this application, which should be covered by the scope of protection of the present application.

Claims

1. A method for controlling a vehicle, wherein: Applied to a vehicle comprising at least two motors, the method comprises: Determining a torque demand value of the vehicle based on the vehicle status information; Based on the torque demand value and the preset torque value corresponding to each of the motors, determining a target driving mode from at least two driving modes; wherein the at least two driving modes include a single-motor driving mode and a multi-motor driving mode; Based on the target driving mode, the vehicle is controlled to travel.

2. The control method according to claim 1, wherein: The determining of a target driving mode from at least two driving modes based on the torque demand value and the preset torque value corresponding to each of the motors includes one of the following: When the torque demand value is greater than the preset torque value corresponding to each of the motors, the multi-motor driving mode is used as the target driving mode; When the torque demand value is less than the preset torque value corresponding to each of the motors, the target driving mode is determined from the at least two driving modes based on the maximum output torque value corresponding to each of the motors; wherein the maximum output torque value of each of the motors is related to the temperature of the corresponding motor.

3. The control method according to claim 2, wherein: When the torque demand value is greater than the preset torque value corresponding to each of the motors, controlling the vehicle to travel based on the target driving mode includes: Based on the torque demand value, determining the output torque value of each of the motors; wherein the difference between the output torque values ​​of each of the motors is within a preset range; According to the multi-motor driving mode, each motor is controlled to output a corresponding output torque value to drive the vehicle.

4. The control method according to claim 2, wherein: The determining the target driving mode from the at least two driving modes based on the maximum output torque value corresponding to each of the motors includes one of the following: When the maximum output torque value corresponding to each of the motors is less than the torque requirement value, the multi-motor driving mode is used as the target driving mode; When the maximum output torque value corresponding to the first motor is not less than the torque requirement value, determining the efficiency corresponding to each of the driving modes; The target driving mode is determined based on the efficiency corresponding to each of the driving modes; wherein the first motor is at least one of the at least two motors.

5. The control method according to claim 4, wherein: The determining the efficiency corresponding to each driving mode includes: Determining the efficiency corresponding to the single motor drive based on the efficiency cloud diagram corresponding to the first motor; Based on the target torque distribution method and the torque demand value, the output torque value of each of the motors is determined, and based on the efficiency cloud diagram corresponding to each of the motors and the output torque value of each of the motors, the efficiency corresponding to the multi-motor drive is determined; wherein, the target torque distribution method is determined based on a preset corresponding relationship and the torque demand value, and the corresponding relationship includes the relationship between at least one torque demand value and the corresponding torque distribution method.

6. The control method according to claim 4, wherein: The determining the target driving mode based on the efficiency corresponding to each driving mode includes one of the following: When the efficiency corresponding to the single-motor driving mode is greater than the efficiency corresponding to the multi-motor driving mode, taking the single-motor driving mode as the target driving mode; When the efficiency corresponding to the single-motor driving mode is lower than the efficiency corresponding to the multi-motor driving mode, the multi-motor driving mode is used as the target driving mode.

7. The control method according to any one of claims 4 to 6, wherein: The controlling the vehicle to travel based on the target driving mode includes: In the case where the target driving mode includes the single-motor driving mode, the torque demand value is used as the output torque value of the second motor, and the second motor is controlled to output the corresponding output torque value according to the single-motor driving mode to drive the vehicle; wherein the second motor is determined based on the first motor; In the case where the target driving mode includes the multi-motor driving mode, based on a preset corresponding relationship, a target torque distribution mode matching the torque demand value is determined; based on the target torque distribution mode and the torque demand value, an output torque value of each of the motors is determined; and according to the multi-motor driving mode, the output torque value corresponding to the output of each of the motors is controlled to drive the vehicle.

8. A vehicle control device, wherein: Applied to a vehicle comprising at least two motors, the device comprises a vehicle control unit and a motor controller, wherein: The vehicle control unit is used to determine a torque demand value of the vehicle based on the state information of the vehicle; The motor controller is used to determine a target driving mode from at least two driving modes based on the torque demand value and the preset torque value corresponding to each of the motors; and control the vehicle driving based on the target driving mode; wherein the at least two driving modes include a single-motor driving mode and a multi-motor driving mode.

9. A computer device, wherein: The method comprises a processor and a memory, wherein the memory stores a computer program, and when the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, wherein: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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