Vehicle torque allocation method and apparatus, and electronic device and vehicle

Abstract

A vehicle torque allocation method and apparatus, and an electronic device and a vehicle. The vehicle torque allocation method comprises: acquiring attribute information of a vehicle, and determining torque information on the basis of the attribute information, wherein the torque information comprises output torques allocated to a plurality of torque output paths (S100); in response to the torque information meeting a preset first fault condition, determining a fault path and non-fault paths among the plurality of torque output paths on the basis of the torque information (S200); and stopping allocating the output torque to the fault path, and reallocating to the non-fault paths the output torque allocated to the fault path (S300). In this way, when a fault occurs in a vehicle, output torques allocated to torque output paths can be reallocated, no output torque is allocated to a fault path any more, but all the torques are allocated to non-fault paths, such that there are sufficient output torques even if the vehicle has a fault, thereby ensuring that the problem of poor power performance of the vehicle caused by fault occurrence is avoided.

Description

Vehicle torque distribution method, distribution device, electronic equipment and vehicle

[0001] This application claims priority to the patent application number 202410379073.X filed with the Patent Office of China on March 29, 2024, entitled “Vehicle Torque Distribution Method, Distribution Device, Electronic Device and Vehicle”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present application relates to the field of vehicle technology, and in particular to a vehicle torque distribution method, a distribution device, an electronic device, and a vehicle. Background Art

[0003] With the rapid development of the electric vehicle industry, the number of electric vehicles has increased significantly. Electric vehicles offer significant advantages over fuel-powered vehicles, including acceleration performance. The most common drive systems for electric vehicles are two-wheel drive and four-wheel drive. In four-wheel drive vehicles, dual electric motors on the front and rear axles are a common drive system. With increasing concern for road vehicle safety, the safety monitoring of vehicle torque functions is gaining increasing attention, particularly regarding the torque distribution between the front and rear axles in four-wheel drive vehicles. Improper torque distribution can lead to insufficient vehicle power, impacting the driving experience. Summary of the Invention

[0004] In view of this, the purpose of the present application is to provide a vehicle torque distribution method, a distribution device, an electronic device and a vehicle.

[0005] Based on the above objectives, the first aspect of the present application provides a vehicle torque distribution method, comprising:

[0006] Acquiring attribute information of the vehicle and determining torque information based on the attribute information, the torque information including output torque distributed to a plurality of torque output paths;

[0007] In response to the torque information meeting a preset first fault condition, determining a fault path and a non-fault path among the plurality of torque output paths based on the torque information;

[0008] The output torque allocated to the faulty path is stopped, and the output torque allocated to the faulty path is redistributed to the non-faulty path.

[0009] Optionally, the output torque is a torque parameter obtained by filtering the initial torque distributed to the multiple torque output paths.

[0010] Optionally, the method is executed by a vehicle controller, which includes a function layer and a monitoring layer;

[0011] Methods include:

[0012] The functional layer obtains attribute information of the vehicle and determines torque information based on the attribute information;

[0013] The monitoring layer determines whether the torque information meets a preset first fault condition, and in response to the torque information meeting the preset first fault condition, determines a fault path and a non-fault path among the multiple torque output paths based on the torque information;

[0014] The functional layer stops allocating output torque to the faulty path and reallocates the output torque allocated to the faulty path to the non-faulty path.

[0015] Optionally, the first fault condition includes a preset engine fault condition, a preset front motor fault condition, and a preset rear motor fault condition;

[0016] The method also includes:

[0017] In response to the torque information satisfying one or two of a preset engine fault condition, a preset front motor fault condition, and a preset rear motor fault condition, it is determined that the torque information satisfies a preset first fault condition.

[0018] Optionally, the torque information includes engine torque information, front motor torque information, and rear motor torque information; the multiple torque output paths include an engine torque output path, a front motor torque output path, and a rear motor torque output path;

[0019] Determining a fault path and a non-fault path among a plurality of torque output paths based on the torque information includes:

[0020] In response to the engine torque information meeting a preset engine fault condition, determining the engine torque output path as a fault path; and in response to the engine torque information not meeting the preset engine fault condition, determining the engine torque output path as a non-fault path;

[0021] In response to the front motor torque information meeting the preset front motor fault condition, determining the front motor torque output path as a fault path; in response to the front motor torque information not meeting the preset front motor fault condition, determining the front motor torque output path as a non-fault path;

[0022] In response to the rear motor torque information meeting the preset rear motor fault condition, the rear motor torque output path is determined to be a fault path; in response to the rear motor torque information not meeting the preset rear motor fault condition, the rear motor torque output path is determined to be a non-fault path.

[0023] Optionally, the front motor torque information includes the front motor output torque allocated to the front motor torque output path, the rear motor torque information includes the rear motor output torque allocated to the rear motor torque output path, and the engine torque information includes the engine output torque allocated to the engine torque output path;

[0024] Stop allocating output torque to the fault path and redistribute the output torque on the fault path to the non-fault path, including:

[0025] In response to the fault path being the front motor torque output path and the non-fault path being the rear motor torque output path and / or the engine torque output path, stopping the distribution of output torque to the front motor torque output path and redistributing the front motor output torque distributed to the front motor torque output path to the rear motor torque output path and / or the engine torque output path;

[0026] In response to the fault path being the rear motor torque output path and the non-fault path being the front motor torque output path and / or the engine torque output path, stopping distributing the output torque to the rear motor torque output path and redistributing the rear motor output torque distributed to the rear motor torque output path to the front motor torque output path and / or the engine torque output path;

[0027] In response to the fault path being the engine torque output path and the non-fault path being the rear motor torque output path and / or the front motor torque output path, the output torque is stopped from being distributed to the engine torque output path, and the engine output torque distributed to the engine torque output path is redistributed to the front motor torque output path and / or the rear motor torque output path.

[0028] Optionally, the front motor torque information includes the front motor output torque allocated to the front motor torque output path, the rear motor torque information includes the rear motor output torque allocated to the rear motor torque output path, and the engine torque information includes the engine output torque allocated to the engine torque output path;

[0029] Stop allocating output torque to the faulty path and redistribute the output torque allocated to the faulty path to the non-faulty path, including:

[0030] In response to the faulty path being the front motor torque output path and the rear motor torque output path, and the non-faulty path being the engine torque output path, stopping the distribution of output torque to the front motor torque output path and the rear motor torque output path, and reallocating the front motor output torque distributed to the front motor torque output path and the rear motor output torque distributed to the rear motor torque output path to the engine torque output path;

[0031] In response to the faulty paths being the front motor torque output path and the engine torque output path, and the non-faulty path being the rear motor torque output path, stopping the distribution of output torque to the front motor torque output path and the engine torque output path, and redistributing the front motor output torque distributed to the front motor torque output path and the engine output torque distributed to the engine torque output path to the rear motor torque output path;

[0032] In response to the faulty path being the engine torque output path and the rear motor torque output path, and the non-faulty path being the front motor torque output path, the output torque is stopped from being distributed to the engine torque output path and the rear motor torque output path, and the engine output torque distributed to the engine torque output path and the rear motor output torque distributed to the rear motor torque output path are redistributed to the front motor torque output path.

[0033] Optionally, the method further comprises:

[0034] In response to the fault path being the engine torque output path, the rear motor torque output path, and the front motor torque output path, the vehicle power is controlled to be reset to zero.

[0035] Optionally, controlling the vehicle power to be reset to zero includes:

[0036] Stop distributing output torque to the engine torque output path, the rear motor torque output path, and the front motor torque output path to control the power of the entire vehicle to zero.

[0037] Optionally, the front motor torque information further includes a front motor torque upper limit and a front motor torque lower limit; the rear motor torque information further includes a rear motor torque upper limit and a rear motor torque lower limit; the engine torque information further includes an engine torque upper limit and an engine torque lower limit;

[0038] The method also includes:

[0039] In response to the front motor output torque being greater than the front motor torque upper limit or less than the front motor torque lower limit, determining that the front motor torque information meets a preset front motor fault condition;

[0040] In response to the rear motor output torque being greater than the rear motor torque upper limit or less than the rear motor torque lower limit, determining that the rear motor torque information meets a preset rear motor fault condition;

[0041] In response to the engine output torque being greater than an upper engine torque limit or less than a lower engine torque limit, it is determined that the engine torque information meets a preset engine fault condition.

[0042] Optionally, it also includes:

[0043] In response to the torque information meeting the preset second fault condition, the vehicle power is controlled to be reset to zero.

[0044] Optionally, the torque information includes total torque, total torque upper limit, total torque lower limit, front motor pre-filter torque, rear motor pre-filter torque, and engine pre-filter torque;

[0045] The method also includes:

[0046] In response to the total torque being greater than the total torque upper limit or less than the total torque lower limit, or the sum of the front motor pre-filter torque, the rear motor pre-filter torque and the engine pre-filter torque being greater than the total torque upper limit or less than the total torque lower limit, it is determined that the torque information meets the preset second fault condition.

[0047] Based on the same inventive concept, a second aspect of the present application provides a vehicle torque distribution device, comprising: a processor, wherein the processor is configured to execute the following program modules stored in a memory:

[0048] an acquisition module configured to acquire attribute information of the vehicle and determine torque information based on the attribute information, the torque information including output torque distributed to the plurality of torque output paths;

[0049] a determination module configured to determine a fault path and a non-fault path among the plurality of torque output paths based on the torque information in response to the torque information meeting a preset first fault condition;

[0050] The monitoring execution module is configured to stop distributing the output torque to the fault path and reallocate the output torque on the fault path to a non-fault path.

[0051] Based on the same inventive concept, the third aspect of this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and runnable on the processor, and when the processor executes the program, it implements any one of the methods of the first aspect above.

[0052] Based on the same inventive concept, the fourth aspect of the present application provides a vehicle, comprising the vehicle torque distribution device of the second aspect or the electronic device of the third aspect.

[0053] As can be seen from the above, the vehicle torque distribution method, distribution device, electronic device and vehicle provided by the present application, when the torque information meets the preset first fault condition, indicates that the vehicle is in a fault mode. At this time, the fault path and non-fault path among multiple torque output paths are determined based on the torque information, and then the output torque is stopped from being distributed to the fault path, and the output torque distributed to the fault path is redistributed to the non-fault path. In this way, when a vehicle fails, the output torque distributed to each torque output path can be redistributed, and the output torque will no longer be distributed to the fault path. Instead, all the torque will be distributed to the non-fault path. In this way, even in the event of a vehicle failure, there is still sufficient output torque to ensure that the vehicle will not lack power due to a failure. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in this application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are merely embodiments of this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0055] FIG1 is a schematic diagram of a first flow chart of a vehicle torque distribution method according to an embodiment of the present application;

[0056] FIG2 is a schematic diagram of a second flow chart of a vehicle torque distribution method according to an embodiment of the present application;

[0057] FIG3 is a schematic diagram of a third flow chart of the vehicle torque distribution method according to an embodiment of the present application;

[0058] FIG4 is a schematic diagram of a fourth flow chart of the vehicle torque distribution method according to an embodiment of the present application;

[0059] FIG5 is a schematic diagram of a vehicle torque distribution device according to an embodiment of the present application;

[0060] FIG6 is a schematic diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0061] In order to make the objectives, technical solutions and advantages of this application more clear, this application is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0062] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should have the usual meanings understood by people with ordinary skills in the field to which this application belongs. The "first", "second" and similar words used in the embodiments of the present application do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0063] With the development of new energy vehicle electronic control technology, automobiles are becoming more and more electronic and electrified, and the risks caused by electronic system failures are also increasing. Therefore, automobile functional safety is becoming more and more important in the industry. Functional safety has also become a factor that automobile companies, parts manufacturers and automotive semiconductor chip manufacturers consider in the stage of product development to face more risks and minimize design and safety risks. It aims to ensure the safety performance of automotive electronic systems and improve the safety of the entire vehicle.

[0064] Taking vehicle torque control as an example, the vehicle torque path has been changed from cable-controlled throttle control to electronic control by the electronic control unit (ECU). The vehicle controller (VCU) is responsible for determining the driver's target torque, torque distribution, and drivability adjustment. The engine control unit (ECM) and motor control unit (MCU) are responsible for implementing the requested torque after receiving it and feedback on the actual status of the engine and motor. For the functional safety of the torque path inside the VCU, a strict monitoring layer strategy for the torque path has been established to ensure the functional safety of the torque path inside the VCU.

[0065] Taking a pure electric four-wheel drive vehicle as an example, the vehicle controller (VCU) serves as the brain that controls the torque path. In the functional layer torque path, it determines the driver's target torque through information such as the accelerator pedal position and vehicle speed, and then distributes the vehicle torque according to the actual status of the front and rear axle motors. The distributed torque is filtered and transmitted to the front and rear axle motors respectively while ensuring the driver's test drive experience.

[0066] In the torque path of the monitoring layer, the monitoring layer strictly monitors the torque path to ensure that the VCU does not issue excessive acceleration or too small braking torque requests, which may cause unexpected acceleration or braking of the vehicle and cause personal injury, thereby ensuring the functional safety of the vehicle.

[0067] However, in the typical development process of existing market models, to ensure differentiation, the VCU torque distribution module and monitoring layer strategies are developed separately, and development timelines vary throughout the project. During development, the torque distribution module only considers the actual current state of the front and rear axle motors, as reported by the MCU, to determine the appropriate amount of vehicle torque allocated to the front and rear axles. Since the monitoring layer does not yet exist, it does not consider whether the monitoring layer has entered a safe state. The monitoring layer, on the other hand, only monitors the allocated front and rear axle torques for excessive or insufficient torque. When a fault is detected, the torque of the faulty path is directly cleared to a safe state of 0 N·m at the controller output interface to ensure timely response. In other words, the existing torque distribution module and monitoring layer operate independently. The torque distribution module allocates torque based solely on the current state of the front and rear axle motors, as reported by the MCU, while the monitoring layer monitors the allocated torques.

[0068] However, the inventors discovered that this monitoring method can lead to a situation where, even if the monitoring layer has cleared the torque request on a certain torque output path to 0 N·m, the functional layer's torque distribution module will still continue to distribute part of the vehicle's torque to that torque output path, resulting in insufficient vehicle power.

[0069] Based on this, referring to FIG1 , the present application provides a vehicle torque distribution method, which is executed by a vehicle controller. The method includes:

[0070] Step S100: Acquire attribute information of the vehicle, and determine torque information based on the attribute information, where the torque information includes output torque allocated to multiple torque output paths;

[0071] Step S200: In response to the torque information meeting a preset first fault condition, determining a fault path and a non-fault path among a plurality of torque output paths based on the torque information;

[0072] Step S300: Stop allocating the output torque to the faulty path, and redistribute the output torque allocated to the faulty path to the non-faulty path.

[0073] Specifically, the vehicle controller first acquires the vehicle's attribute information. This attribute information includes information related to calculating various parameters related to vehicle torque. For example, this attribute information may include torque-related external input signals such as accelerator pedal position information, vehicle speed, brake master cylinder pressure, front axle motor fault flag, front axle motor maximum available torque, rear axle motor fault flag, and rear axle motor maximum available torque. The front axle motor fault flag, front axle motor maximum available torque, rear axle motor fault flag, and rear axle motor maximum available torque are basic initial information for the front and rear axle motors, and are different from the fault flag information, maximum torque, and minimum torque values ​​determined after the monitoring layer's judgment.

[0074] Then, torque information is determined based on the attribute information. The torque information includes output torques distributed to a plurality of torque output paths. Exemplarily, the plurality of torque output paths include an engine torque output path, a front motor torque output path, and a rear motor torque output path.

[0075] The torque information includes total torque information, front motor torque information, rear motor torque information, and engine torque information.

[0076] The total torque information may include total torque, a total torque upper limit, and a total torque lower limit. The total torque is calculated by the vehicle controller's functional layer based on the attribute information. The total torque upper limit and total torque lower limit are calculated by the vehicle controller's monitoring layer based on the attribute information.

[0077] The front motor torque information includes the front motor output torque assigned to the front motor torque output path, the front motor torque upper limit, the front motor torque lower limit, and the front motor pre-filtered torque. The front motor pre-filtered torque is filtered by the filtering module at the functional layer to obtain the front motor output torque. Outputting the filtered front motor output torque to the front motor ensures smooth driving and enhances the driver's driving experience.

[0078] The rear motor torque information includes the rear motor output torque assigned to the rear motor torque output path, the rear motor torque upper limit, the rear motor torque lower limit, and the rear motor pre-filtered torque. The pre-filtered rear motor torque is filtered by the filter module at the functional layer to obtain the rear motor output torque. Outputting the filtered rear motor torque to the rear motor ensures smooth driving and enhances the driver's driving experience.

[0079] Engine torque information includes the engine output torque allocated to the engine torque output path, the engine torque upper limit, the engine torque lower limit, and the engine pre-filtered torque. The pre-filtered engine torque is filtered by the filter module at the functional layer to obtain the engine output torque. Outputting this filtered engine torque to the engine ensures smooth driving and enhances the driver's driving experience.

[0080] The front motor pre-filtered torque, rear motor pre-filtered torque, and engine pre-filtered torque are calculated by the vehicle controller's functional layer based on attribute information and total torque. The front motor output torque, rear motor output torque, and engine output torque are obtained by the vehicle controller's functional layer after filtering these factors.

[0081] The front motor torque upper limit, front motor torque lower limit, rear motor torque upper limit, rear motor torque lower limit, engine torque upper limit and engine torque lower limit are calculated by the monitoring layer of the vehicle controller based on the front motor filtered torque, rear motor filtered torque and engine filtered torque.

[0082] Then, it is determined whether the torque information meets a preset first fault condition. If the torque information meets the preset first fault condition, a fault path and a non-fault path among the multiple torque output paths are determined based on the torque information.

[0083] Specifically, the preset first fault condition is a preset condition when the vehicle has a first fault. When the vehicle has a first fault, it means that at least one torque output path of the vehicle has a fault. At this time, the fault path and non-fault path among the multiple torque output paths are determined based on the torque information.

[0084] Among them, the non-fault path is a torque output path where no fault occurs. At this time, the torque output path is normal, and the output torque allocated to the torque output path can be output normally to provide power for the vehicle.

[0085] Among them, the fault path is the torque output path where a fault occurs. This may be due to a fault in the engine, front motor or rear motor, causing the corresponding torque output path to fail. In this case, the output torque allocated to the torque output path cannot be output normally and cannot provide power for the vehicle.

[0086] Therefore, in the present application, after determining the fault path and the non-fault path, the output torque is stopped from being allocated to the fault path, and the output torque allocated to the fault path is redistributed to the non-fault path. In this way, when a vehicle failure occurs, the output torque allocated to each torque output path can be redistributed, and the output torque will no longer be allocated to the fault path. Instead, all the torque will be allocated to the non-fault path. In this way, even in the event of a vehicle failure, there is still sufficient output torque to ensure that the vehicle will not lack power due to a failure.

[0087] In some embodiments, the output torque can be the initial torque allocated to the multiple torque output paths, or it can be a torque parameter obtained by filtering the initial torque allocated to the multiple torque output paths. When the output torque is the torque parameter obtained by filtering the initial torque, outputting the output torque can ensure a smooth ride for the driver and enhance the driving experience.

[0088] In some embodiments, referring to FIG2 , the vehicle torque distribution method is executed by a vehicle controller, which includes a functional layer and a monitoring layer. The method includes:

[0089] Step S100 ′: the functional layer obtains attribute information of the vehicle and determines torque information based on the attribute information;

[0090] Step S200′: the monitoring layer determines whether the torque information meets a preset first fault condition. In response to the torque information meeting the preset first fault condition, the monitoring layer determines a faulty path and a non-faulty path among the multiple torque output paths based on the torque information.

[0091] Step S300 ′: the functional layer stops distributing the output torque to the faulty path, and redistributes the output torque distributed to the faulty path to the non-faulty path.

[0092] Specifically, during execution, the monitoring layer and the functional layer each obtain attribute information through independent input interfaces and then perform different operations based on the attribute information. For example, the functional layer determines some torque information based on the attribute information, such as the front motor output torque, rear motor output torque, and engine output torque.

[0093] Based on the attribute information, the monitoring layer determines the front motor torque upper limit, front motor torque lower limit, rear motor torque upper limit, rear motor torque lower limit, engine torque upper limit, and engine torque lower limit. Based on these parameters, the monitoring layer then determines whether the torque information meets a preset first fault condition. If the torque information meets the preset first fault condition, the monitoring layer then determines, based on the torque information, a faulty path and a non-faulty path among the multiple torque output paths.

[0094] The monitoring layer then sends the identified faulty path to the functional layer in the form of a fault flag or fault warning message. Upon receiving the fault flag or fault warning message, the functional layer stops allocating output torque to the faulty path and redistributes the output torque allocated to the faulty path to non-faulty paths, thus achieving torque redistribution and ensuring sufficient vehicle power.

[0095] In this application, the functional layer is monitored by the monitoring layer to determine the fault path, and the determined fault path is sent to the functional layer in the form of a fault flag or fault reminder information, so that the functional layer can redistribute the output torque based on the fault path feedback from the monitoring layer to ensure that the vehicle will not have insufficient power due to a fault.

[0096] In some embodiments, the first fault condition includes a preset engine fault condition, a preset front motor fault condition, and a preset rear motor fault condition; and the method further includes:

[0097] In response to the torque information satisfying one or two of a preset engine fault condition, a preset front motor fault condition, and a preset rear motor fault condition, it is determined that the torque information satisfies a preset first fault condition.

[0098] Specifically, the preset engine failure condition is a condition in which a preset engine torque output path fails. The preset front motor failure condition is a condition in which a preset front motor torque output path fails. The preset rear motor failure condition is a condition in which a preset rear motor torque output path fails.

[0099] When the torque information meets one or two of the preset engine fault conditions, the preset front motor fault conditions and the preset rear motor fault conditions, it means that one or two of the vehicle's engine torque output path, the front motor torque output path and the rear motor torque output path have failed. At this time, there is at least one torque output path that has not failed. Then, it is determined that the torque information meets the preset first fault condition and subsequent operations can be performed.

[0100] Exemplarily, when the torque information only meets the preset engine fault condition, the preset front motor fault condition or the preset rear motor fault condition, or when the torque information meets both the preset engine fault condition and the preset front motor fault condition, or when the torque information meets both the preset engine fault condition and the preset rear motor fault condition, or when the torque information meets both the preset front motor fault condition and the preset rear motor fault condition, it is determined that the torque information meets the preset first fault condition.

[0101] However, when the torque information meets the preset engine failure condition, the preset front motor failure condition and the preset rear motor failure condition at the same time, it means that the engine torque output path, the front motor torque output path and the rear motor torque output path have all failed. At this time, the torque redistribution strategy cannot be executed, and other safety operations (such as resetting the vehicle power) are required to ensure vehicle safety.

[0102] In this application, the monitoring layer determines whether the torque information meets the first fault condition to determine what torque control strategy to execute subsequently to ensure vehicle safety.

[0103] In some embodiments, referring to FIG. 3 , determining a faulty path and a non-faulty path among a plurality of torque output paths based on the torque information in step S200 includes:

[0104] Step S210: In response to the engine torque information meeting the preset engine fault condition, determining the engine torque output path as a fault path; in response to the engine torque information not meeting the preset engine fault condition, determining the engine torque output path as a non-fault path;

[0105] Step S220: In response to the front motor torque information meeting the preset front motor fault condition, determining the front motor torque output path as a fault path; and in response to the front motor torque information not meeting the preset front motor fault condition, determining the front motor torque output path as a non-fault path;

[0106] Step S230: In response to the rear motor torque information meeting the preset rear motor fault condition, determining the rear motor torque output path as a fault path; in response to the rear motor torque information not meeting the preset rear motor fault condition, determining the rear motor torque output path as a non-fault path.

[0107] Specifically, as mentioned above, the front motor output torque is calculated by the functional layer of the vehicle controller, while the upper and lower limits of the front motor torque are calculated by the monitoring layer of the vehicle controller. After the functional layer calculates the front motor output torque, the monitoring layer monitors the front motor output torque to determine whether it is abnormal.

[0108] Specifically, the front motor output torque is determined based on the front motor torque upper limit and the front motor torque lower limit. If the front motor output torque is greater than the front motor torque upper limit or less than the front motor torque lower limit, this indicates that the front motor torque is abnormal, and the front motor torque information is determined to meet the preset front motor fault condition. In this case, the front motor torque output path is determined to be a faulty path. If the front motor output torque is between the front motor torque upper limit and the front motor torque lower limit, the front motor torque information is determined to not meet the preset front motor fault condition. In this case, the front motor torque output path is normal, and the front motor torque output path is determined to be a normal path.

[0109] The rear motor output torque is calculated by the functional layer of the vehicle controller, while the upper and lower rear motor torque limits are calculated by the monitoring layer of the vehicle controller. After the functional layer calculates the rear motor output torque, the monitoring layer monitors the rear motor output torque to determine whether it is abnormal.

[0110] Specifically, the rear motor output torque is determined based on the rear motor torque upper and lower limits. When the rear motor output torque is greater than the upper limit or less than the lower limit, the rear motor torque information is determined to meet the preset rear motor fault condition, and the rear motor torque output path is determined to be a faulty path. When the rear motor output torque is between the upper and lower limits, the rear motor torque information is determined to not meet the preset rear motor fault condition, indicating that the rear motor torque output path is normal and is determined to be a normal path.

[0111] The vehicle controller's functional layer calculates engine output torque, while the upper and lower limits are calculated by the vehicle controller's monitoring layer. After the functional layer calculates engine output torque, the monitoring layer monitors it to determine if it's abnormal.

[0112] Specifically, the engine output torque is determined based on the engine torque upper limit and the engine torque lower limit. When the engine output torque is greater than the engine torque upper limit or less than the engine torque lower limit, the engine torque information is determined to meet the preset engine fault condition, and the engine torque output path is determined to be a faulty path. When the engine output torque is between the engine torque upper limit and the engine torque lower limit, the engine torque information is determined to not meet the preset engine fault condition, indicating that the engine torque output path is in a normal state, and the engine torque output path is determined to be a normal path.

[0113] In this application, the functional layer is monitored based on the monitoring layer. The monitoring layer judges whether the front motor torque information meets the preset front motor fault condition, whether the rear motor torque information meets the preset rear motor fault condition, and whether the engine torque information meets the preset engine fault condition. Then, the fault path and non-fault path are determined based on the judgment results, which facilitates the subsequent accurate torque redistribution strategy to ensure that the vehicle's dynamics will not be affected by the occurrence of a fault.

[0114] In some embodiments, step S300 stops distributing the output torque to the faulty path and redistributes the output torque distributed to the faulty path to a non-faulty path, including:

[0115] In response to the fault path being the front motor torque output path and the non-fault path being the rear motor torque output path and / or the engine torque output path, stopping the distribution of output torque to the front motor torque output path and redistributing the front motor output torque distributed to the front motor torque output path to the rear motor torque output path and / or the engine torque output path;

[0116] In response to the fault path being the rear motor torque output path and the non-fault path being the front motor torque output path and / or the engine torque output path, stopping distributing the output torque to the rear motor torque output path and redistributing the rear motor output torque distributed to the rear motor torque output path to the front motor torque output path and / or the engine torque output path;

[0117] In response to the fault path being the engine torque output path and the non-fault path being the rear motor torque output path and / or the front motor torque output path, the output torque is stopped from being distributed to the engine torque output path, and the engine output torque distributed to the engine torque output path is redistributed to the front motor torque output path and / or the rear motor torque output path.

[0118] Specifically, for example, it is assumed that the output torque of the front motor is 10 N·m, the output torque of the rear motor is 20 N·m, and the output torque of the engine is 30 N·m.

[0119] When the faulty path is the front motor torque output path and the non-faulty paths are the rear motor torque output path and the engine torque output path, the output torque distribution to the front motor torque output path is stopped, and the front motor output torque of 10 N·m distributed to the front motor torque output path is redistributed to the rear motor torque output path and the engine torque output path.

[0120] There are two specific ways to redistribute:

[0121] The first method is to reallocate 5 N·m to the rear motor torque output path and 5 N·m to the engine torque output path. After torque redistribution, the output torque allocated to the rear motor torque output path is 25 N·m (i.e., 20 + 5 N·m), and the output torque allocated to the engine torque output path is 35 N·m (i.e., 30 + 5 N·m).

[0122] The second method: the sum of the front motor output torque of 10N·m, the rear motor output torque of 20N·m and the engine output torque of 30N·m, 60N·m, can be redistributed only to the rear motor torque output path and the engine torque output path. For example, the output torques redistributed to the rear motor torque output path and the engine torque output path are both 30N·m.

[0123] In specific implementation, the torque redistribution methods are not limited to the above two methods. Torque can also be redistributed in other ways, as long as it is ensured that the output torque is stopped from being distributed to the faulty path and the output torque allocated to the faulty path is redistributed to the non-faulty path.

[0124] Stop allocating output torque to the fault path and reallocate the output torque allocated to the fault path to the non-fault path. In this way, on the one hand, the vehicle controller will no longer allocate output torque to the fault path to ensure safety. On the other hand, the output torque that should have been output to the fault path will be reallocated to the non-fault path. In this way, even in the event of a fault, the actual total output torque of the vehicle is still large. This ensures safety while ensuring that the vehicle's power will not be reduced, thereby improving the driver's driving experience.

[0125] In some embodiments, step S300 stops distributing the output torque to the faulty path and redistributes the output torque distributed to the faulty path to a non-faulty path, including:

[0126] In response to the faulty path being the front motor torque output path and the rear motor torque output path, and the non-faulty path being the engine torque output path, stopping the distribution of output torque to the front motor torque output path and the rear motor torque output path, and reallocating the front motor output torque distributed to the front motor torque output path and the rear motor output torque distributed to the rear motor torque output path to the engine torque output path;

[0127] In response to the faulty paths being the front motor torque output path and the engine torque output path, and the non-faulty path being the rear motor torque output path, stopping the distribution of output torque to the front motor torque output path and the engine torque output path, and redistributing the front motor output torque distributed to the front motor torque output path and the engine output torque distributed to the engine torque output path to the rear motor torque output path;

[0128] In response to the faulty path being the engine torque output path and the rear motor torque output path, and the non-faulty path being the front motor torque output path, the output torque is stopped from being distributed to the engine torque output path and the rear motor torque output path, and the engine output torque distributed to the engine torque output path and the rear motor output torque distributed to the rear motor torque output path are redistributed to the front motor torque output path.

[0129] In the present application, when the fault path is two of the engine torque output path, the rear motor torque output path and the front motor torque output path, the output torque is stopped from being distributed to the two fault paths, and the output torque distributed to the two fault paths is redistributed to the non-fault path. In this way, on the one hand, the vehicle controller no longer distributes output torque to the fault path to ensure safety. On the other hand, the output torque that should have been output to the fault path is redistributed to the non-fault path. In this way, even in the event of a fault, the actual total output torque of the vehicle is still large. This ensures safety while ensuring that the vehicle's power will not be reduced, thereby improving the driver's driving experience.

[0130] In some embodiments, in response to the fault paths being the engine torque output path, the rear motor torque output path, and the front motor torque output path, the vehicle power is controlled to be cleared.

[0131] Specifically, when the monitoring layer determines that the fault path is the engine torque output path, the rear motor torque output path, and the front motor torque output path, it means that all three torque output paths on the vehicle have failed. Then the functional layer stops distributing output torque to the engine torque output path, the rear motor torque output path, and the front motor torque output path to control the power of the entire vehicle to zero and ensure the safety of the vehicle.

[0132] In some embodiments, the method further includes: in response to the torque information meeting a preset second fault condition, controlling the power of the entire vehicle to be reset to zero.

[0133] Specifically, controlling the vehicle's power to zero refers to reducing the output torque distributed to multiple torque output paths to zero to ensure vehicle and occupant safety. It's worth noting that in some special cases, reducing the output torque distributed to multiple torque output paths to a value close to zero (for example, 0.1 N·m or 0.01 N·m) can also be considered power zeroing.

[0134] The preset second fault condition is the condition that the entire vehicle fails. When the entire vehicle fails, it is necessary to control the power of the entire vehicle to zero, that is, the output torque distributed to multiple torque output paths is reduced to the preset torque to ensure vehicle safety.

[0135] Specifically, in response to the total torque being greater than the total torque upper limit or less than the total torque lower limit, or the sum of the front motor pre-filter torque, the rear motor pre-filter torque and the engine pre-filter torque being greater than the total torque upper limit or less than the total torque lower limit, it is determined that the torque information meets the preset second fault condition.

[0136] As previously mentioned, total torque is calculated by the functional layer of the vehicle controller, while the upper and lower limits are calculated by the monitoring layer of the vehicle controller. The monitoring layer evaluates the total torque calculated by the functional layer to determine if it is abnormal. If the total torque is greater than the upper limit or less than the lower limit, it indicates a total torque anomaly and a vehicle fault is determined. At this point, the torque information is determined to meet the pre-set second fault condition.

[0137] Similarly, the monitoring layer monitors the front motor pre-filter torque, rear motor pre-filter torque, and engine pre-filter torque calculated by the functional layer to determine whether there are any anomalies in the front motor pre-filter torque, rear motor pre-filter torque, and engine pre-filter torque. If it is determined that the sum of the front motor pre-filter torque, rear motor pre-filter torque, and engine pre-filter torque is greater than the upper limit of the total torque or less than the lower limit of the total torque, it indicates that there is an anomaly in the front motor pre-filter torque, rear motor pre-filter torque, and / or engine pre-filter torque. In this case, an anomaly has occurred in the overall vehicle torque, and the torque information is determined to meet a preset second fault condition.

[0138] It is worth noting that even if the total torque has been determined to be between the total torque upper limit and the total torque lower limit, it is still necessary to determine whether the sum of the front motor pre-filter torque, the rear motor pre-filter torque, and the engine pre-filter torque is greater than the total torque upper limit or less than the total torque lower limit. This is because even if the total torque calculated by the functional layer is correct, errors may occur when the functional layer calculates the front motor pre-filter torque, the rear motor pre-filter torque, and the engine pre-filter torque, resulting in the sum of the front motor pre-filter torque, the rear motor pre-filter torque, and the engine pre-filter torque being greater than the total torque upper limit or less than the total torque lower limit. Therefore, the front motor pre-filter torque, the rear motor pre-filter torque, and the engine pre-filter torque calculated by the functional layer still need to be monitored to ensure that the functional layer's calculation results are correct and to improve the accuracy of vehicle monitoring and control.

[0139] In this application, the total torque calculated by the functional layer, the front motor pre-filter torque, the rear motor pre-filter torque and the engine pre-filter torque are monitored to ensure that there are no abnormalities in the calculation results of the functional layer, thereby improving the accuracy of vehicle monitoring and control.

[0140] In addition, "in response to the torque information meeting the preset second fault condition, the output torque allocated to multiple torque output paths is reduced to the preset torque" can be performed simultaneously or synchronously with the aforementioned steps S200 and S300 to use different fault judgment methods to determine which fault mode the vehicle is in.

[0141] When the torque information meets the first fault condition, it means that the vehicle is in the first fault mode. The vehicle's dynamics will not be affected by redistributing the output torque allocated to the fault path to the non-fault path and stopping the output torque from being allocated to the fault path.

[0142] When the torque information meets the second fault condition, it means that the vehicle is in the second fault mode. The output torque distributed to multiple torque output paths is reduced to the preset torque to achieve zero vehicle power and ensure vehicle safety.

[0143] In some embodiments, referring to FIG. 4 , the vehicle control method further includes the following steps.

[0144] In the vehicle controller, the functional layer and the monitoring layer receive torque-related external controller area network (CAN) input signals such as accelerator pedal position, vehicle speed, brake master cylinder pressure, front axle motor fault flag, front axle motor maximum available torque, rear axle motor fault flag, and rear axle motor maximum available torque through independent input interfaces.

[0145] The functional layer includes at least a driver torque calculation module, a torque distribution module, and a torque filtering module.

[0146] The monitoring layer includes at least a driver torque monitoring module, a torque distribution monitoring module, and a torque filtering monitoring module.

[0147] The driver torque calculation module calculates the driver torque request (i.e., total torque) based on the accelerator pedal position, vehicle speed, and brake master cylinder pressure. The driver torque monitoring module uses the same signals through independent input interfaces to calculate the driver torque request upper and lower limits (i.e., total torque upper and lower limits).

[0148] If the driver's torque request, calculated by the functional layer, exceeds the upper and lower limits calculated by the monitoring layer (i.e., the total torque is greater than the upper limit or less than the lower limit), a vehicle torque fault is considered to have occurred. The vehicle fault flag is activated, and the front and rear axle motor torque requests are cleared to 0 N·m in the safe state arbitration module (i.e., the output torques allocated to multiple torque output paths are all reduced to the preset torque to reset the vehicle power to zero).

[0149] The torque distribution module calculates the front axle torque request (i.e., the front motor pre-filter torque), the rear axle torque request (i.e., the rear motor pre-filter torque), and the engine torque request (i.e., the engine pre-filter torque) based on signals such as the driver's torque request, the front axle motor fault flag, the front axle motor's maximum available torque, the rear axle motor fault flag, and the rear axle motor's maximum available torque.

[0150] The torque distribution monitoring module receives these two torque request signals (i.e., the front motor pre-filter torque, the rear motor pre-filter torque, and the engine pre-filter torque) and calculates the sum of the three to compare with the driver's torque request upper and lower limits (i.e., the total torque upper limit and the total torque lower limit). If the upper and lower limits are exceeded (i.e., the sum of the front motor pre-filter torque, the rear motor pre-filter torque, and the engine pre-filter torque is greater than the total torque upper limit or less than the total torque lower limit), it is considered that a vehicle torque fault has occurred, the vehicle fault flag is activated, and the safe state arbitration module clears the front and rear axle motor torque requests to 0 N·m (i.e., the output torques allocated to multiple torque output paths are all reduced to the preset torque to reset the vehicle power to zero).

[0151] The torque filter module adjusts the torque change rate according to the front and rear axle torque requests sent by the torque distribution module and the current vehicle speed, and filters the pre-filtered torque according to the rules to obtain the filtered front motor output torque, rear motor output torque and engine output torque to ensure smooth driving for the driver.

[0152] The torque filter monitoring module will calculate the filtered upper and lower limits of the front, rear axle and engine torque (i.e., the front motor torque upper limit, the front motor torque lower limit, the rear motor torque upper limit, the rear motor torque lower limit, the engine torque upper limit and the engine torque lower limit) according to the front and rear axle torque requests sent by the torque distribution monitoring module.

[0153] If the front motor output torque, rear motor output torque and engine output torque calculated by the functional layer exceed the upper and lower limits calculated by the monitoring layer (i.e., the front motor torque is greater than the front motor torque upper limit or less than the front motor torque lower limit, or the rear motor torque is greater than the rear motor torque upper limit or less than the rear motor torque lower limit, or the engine torque is greater than the engine torque upper limit or less than the engine torque lower limit), then for the exceeded torque path, the corresponding front, rear axle and engine fault flags are activated, the corresponding torque request is cleared to 0 N·m in the safety arbitration module, and a signal is sent to the functional layer torque distribution module at the same time to distribute the vehicle torque to the non-fault path (i.e., the output torque distributed to the faulty path is reallocated to the non-faulty path, and the output torque distribution to the faulty path is stopped).

[0154] In this application, in addition to being connected to the safety state arbitration module, the monitoring layer fault flag is also sent to the functional layer torque distribution module as a torque distribution consideration condition, ensuring vehicle dynamics while meeting the safety state timeliness.

[0155] When a fault occurs, the safe state is achieved through the rapid response of the safe state arbitration module, ensuring the timeliness of the response. By adding a new reverse input to the fault flag of the torque distribution module, the torque distribution module no longer allocates torque to the fault path, thus ensuring the dynamic performance of the entire vehicle.

[0156] It should be noted that the method of the embodiment of the present application can be performed by a single device, such as a computer or server. The method of this embodiment can also be applied in a distributed scenario and completed by multiple devices working together. In such a distributed scenario, one of the multiple devices may only perform one or more steps of the method of the embodiment of the present application, and the multiple devices will interact with each other to complete the method.

[0157] It should be noted that the above description is limited to some embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in an order different from that described in the above embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0158] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides a vehicle torque distribution device.

[0159] 5 , the vehicle torque distribution device includes a processor, wherein the processor is configured to execute the following program modules stored in a memory:

[0160] an acquisition module 100 configured to acquire attribute information of the vehicle and determine torque information based on the attribute information, the torque information including output torques allocated to a plurality of torque output paths;

[0161] a determination module 200 configured to determine a faulty path and a non-faulty path among the plurality of torque output paths based on the torque information in response to the torque information meeting a preset first fault condition;

[0162] The monitoring execution module 300 is configured to stop distributing the output torque to the faulty path and reallocate the output torque distributed to the faulty path to the non-faulty path.

[0163] In some embodiments, the output torque is a torque parameter obtained by filtering the initial torque distributed to the multiple torque output paths.

[0164] In some embodiments, the first fault condition includes a preset engine fault condition, a preset front electric machine fault condition, and a preset rear electric machine fault condition.

[0165] In some embodiments, the determination module 200 is further configured to: in response to the torque information meeting one or two of a preset engine fault condition, a preset front motor fault condition, and a preset rear motor fault condition, determine that the torque information meets a preset first fault condition.

[0166] In some embodiments, the torque information includes engine torque information, front motor torque information, and rear motor torque information; and the plurality of torque output paths include the engine torque output path, the front motor torque output path, and the rear motor torque output path.

[0167] In some embodiments, the determination module 200 is further configured to:

[0168] In response to the engine torque information meeting a preset engine fault condition, determining the engine torque output path as a fault path; and in response to the engine torque information not meeting the preset engine fault condition, determining the engine torque output path as a non-fault path;

[0169] In response to the front motor torque information meeting the preset front motor fault condition, determining the front motor torque output path as a fault path; in response to the front motor torque information not meeting the preset front motor fault condition, determining the front motor torque output path as a non-fault path;

[0170] In response to the rear motor torque information meeting the preset rear motor fault condition, the rear motor torque output path is determined to be a fault path; in response to the rear motor torque information not meeting the preset rear motor fault condition, the rear motor torque output path is determined to be a non-fault path.

[0171] In some embodiments, the front motor torque information includes the front motor output torque allocated to the front motor torque output path, the rear motor torque information includes the rear motor output torque allocated to the rear motor torque output path, and the engine torque information includes the engine output torque allocated to the engine torque output path.

[0172] In some embodiments, the monitoring execution module 300 is further configured to:

[0173] In response to the fault path being the front motor torque output path and the non-fault path being the rear motor torque output path and / or the engine torque output path, stopping the distribution of output torque to the front motor torque output path and redistributing the front motor output torque distributed to the front motor torque output path to the rear motor torque output path and / or the engine torque output path;

[0174] In response to the fault path being the rear motor torque output path and the non-fault path being the front motor torque output path and / or the engine torque output path, stopping distributing the output torque to the rear motor torque output path and redistributing the rear motor output torque distributed to the rear motor torque output path to the front motor torque output path and / or the engine torque output path;

[0175] In response to the fault path being the engine torque output path and the non-fault path being the rear motor torque output path and / or the front motor torque output path, the output torque is stopped from being distributed to the engine torque output path, and the engine output torque distributed to the engine torque output path is redistributed to the front motor torque output path and / or the rear motor torque output path.

[0176] In some embodiments, the monitoring execution module 300 is further configured to:

[0177] In response to the faulty path being the front motor torque output path and the rear motor torque output path, and the non-faulty path being the engine torque output path, stopping the distribution of output torque to the front motor torque output path and the rear motor torque output path, and reallocating the front motor output torque distributed to the front motor torque output path and the rear motor output torque distributed to the rear motor torque output path to the engine torque output path;

[0178] In response to the faulty paths being the front motor torque output path and the engine torque output path, and the non-faulty path being the rear motor torque output path, stopping the distribution of output torque to the front motor torque output path and the engine torque output path, and redistributing the front motor output torque distributed to the front motor torque output path and the engine output torque distributed to the engine torque output path to the rear motor torque output path;

[0179] In response to the faulty path being the engine torque output path and the rear motor torque output path, and the non-faulty path being the front motor torque output path, the output torque is stopped from being distributed to the engine torque output path and the rear motor torque output path, and the engine output torque distributed to the engine torque output path and the rear motor output torque distributed to the rear motor torque output path are redistributed to the front motor torque output path.

[0180] In some embodiments, the monitoring execution module 300 is further configured to:

[0181] In response to the fault path being the engine torque output path, the rear motor torque output path, and the front motor torque output path, the vehicle power is controlled to be reset to zero.

[0182] In some embodiments, the monitoring execution module 300 is further configured to:

[0183] Stop distributing output torque to the engine torque output path, the rear motor torque output path, and the front motor torque output path to control the power of the entire vehicle to zero.

[0184] In some embodiments, the front motor torque information also includes a front motor torque upper limit and a front motor torque lower limit; the rear motor torque information also includes a rear motor torque upper limit and a rear motor torque lower limit; and the engine torque information also includes an engine torque upper limit and an engine torque lower limit.

[0185] In some embodiments, the determination module 200 is further configured to:

[0186] In response to the front motor output torque being greater than the front motor torque upper limit or less than the front motor torque lower limit, determining that the front motor torque information meets a preset front motor fault condition;

[0187] In response to the rear motor output torque being greater than the rear motor torque upper limit or less than the rear motor torque lower limit, it is determined that the rear motor torque information meets a preset rear motor fault condition.

[0188] In response to the engine output torque being greater than an upper engine torque limit or less than a lower engine torque limit, it is determined that the engine torque information meets a preset engine fault condition.

[0189] In some embodiments, the monitoring execution module 300 is further configured to: in response to the torque information meeting a preset second fault condition, control the vehicle power to be reset to zero.

[0190] In some embodiments, the torque information includes a total torque, a total torque upper limit, a total torque lower limit, a front motor pre-filtered torque, a rear motor pre-filtered torque, and an engine pre-filtered torque.

[0191] In some embodiments, the monitoring execution module 300 is further configured to: in response to the total torque being greater than the total torque upper limit or less than the total torque lower limit, or the sum of the front motor pre-filter torque, the rear motor pre-filter torque and the engine pre-filter torque being greater than the total torque upper limit or less than the total torque lower limit, determine that the torque information meets the preset second fault condition.

[0192] For the convenience of description, the above devices are described as being divided into various modules according to their functions. Of course, when implementing this application, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0193] The device of the above embodiment is used to implement the corresponding vehicle torque distribution method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0194] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and runnable on the processor, and when the processor executes the program, the vehicle torque distribution method of any of the above embodiments is implemented.

[0195] FIG6 shows a more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment. The device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are communicatively connected to each other within the device via the bus 1050.

[0196] The processor 1010 can be implemented using a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0197] The memory 1020 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage devices, dynamic storage devices, etc. The memory 1020 can store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1020 and is called and executed by the processor 1010.

[0198] The input / output interface 1030 is used to connect input / output modules to implement information input and output. The input / output modules can be configured as components within the device (not shown in the figure) or can be externally connected to the device to provide corresponding functions. Input devices may include a keyboard, mouse, touch screen, microphone, various sensors, etc., and output devices may include a display, speaker, vibrator, indicator light, etc.

[0199] The communication interface 1040 is used to connect to a communication module (not shown) to enable communication between the device and other devices. The communication module can communicate via a wired method (such as USB, network cable, etc.) or a wireless method (such as mobile network, WiFi, Bluetooth, etc.).

[0200] The bus 1050 comprises a path for transmitting information between the various components of the device (eg, the processor 1010 , the memory 1020 , the input / output interface 1030 , and the communication interface 1040 ).

[0201] It should be noted that although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040, and the bus 1050, in a specific implementation, the device may also include other components necessary for normal operation. In addition, it will be understood by those skilled in the art that the above device may only include the components necessary to implement the embodiments of this specification, and does not necessarily include all the components shown in the figure.

[0202] The electronic device of the above embodiment is used to implement the corresponding vehicle torque distribution method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0203] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a non-transitory computer-readable storage medium, which stores computer instructions, and the computer instructions are used to enable a computer to execute the vehicle torque distribution method of any of the above embodiments.

[0204] The computer-readable media of this embodiment include permanent and non-permanent, removable and non-removable media that can be used to store information by any method or technology. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0205] The computer instructions stored in the storage medium of the above embodiment are used to enable a computer to execute the vehicle torque distribution method of any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0206] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a computer program product, including computer program instructions. When the computer program instructions are run on a computer, the computer executes the vehicle torque distribution method of any of the above embodiments, which has the beneficial effects of the corresponding method embodiments and will not be repeated here.

[0207] Based on the same inventive concept and corresponding to any of the above embodiments and methods, the present application further provides a vehicle, including the vehicle torque distribution device, electronic device, computer-readable storage medium, or computer program product of any of the above embodiments. The vehicle has the technical effects corresponding to any of the above embodiments.

[0208] It is understandable that before using the technical solutions of each embodiment of the present disclosure, the type, scope of use, usage scenarios, etc. of the personal information involved will be informed to the user in an appropriate manner, and the user's authorization will be obtained.

[0209] For example, in response to a user's active request, a prompt message is sent to the user to clearly inform the user that the requested operation will require the acquisition and use of the user's personal information. This allows the user to independently choose whether to provide personal information to the electronic device, application, server, storage medium, or other software or hardware that performs the operation of the disclosed technical solution based on the prompt message.

[0210] As an optional but non-limiting implementation, in response to a user's active request, the prompt information may be sent to the user in the form of a pop-up window, in which the prompt information may be presented in text form. Furthermore, the pop-up window may also contain a selection control for the user to select "agree" or "disagree" to provide personal information to the electronic device.

[0211] It is understandable that the above notification and user authorization process are merely illustrative and do not constitute a limitation on the implementation of the present disclosure. Other methods that comply with relevant laws and regulations may also be applied to the implementation of the present disclosure.

[0212] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present application (including the claims) is limited to these examples. Within the scope of the present application, the technical features of the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of different aspects of the above embodiments of the present application, which are not provided in detail for the sake of simplicity.

[0213] In addition, for simplicity of description and discussion, and in order not to make the embodiment of the application difficult to understand, the known power supply / ground connection with integrated circuit (IC) chip and other components may or may not be shown in the accompanying drawings provided. In addition, the device can be shown in the form of a block diagram to avoid making the embodiment of the application difficult to understand, and this also takes into account the following fact, that is, the details of the embodiment of these block diagram devices are highly dependent on the platform to be implemented in the embodiment of the application (that is, these details should be fully within the scope of understanding of those skilled in the art). When specific details (for example, circuit) are set forth to describe exemplary embodiments of the application, it will be apparent to those skilled in the art that the embodiment of the application can be implemented without these specific details or when these specific details are changed. Therefore, these descriptions should be considered to be illustrative rather than restrictive.

[0214] Although the present invention has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those skilled in the art based on the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may utilize the embodiments discussed.

[0215] The embodiments of the present application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the scope of protection of this application.

Claims

1. A vehicle torque distribution method, characterized in that: include: acquiring attribute information of a vehicle and determining torque information based on the attribute information, the torque information including a plurality of output torques distributed to a plurality of torque output paths; In response to the torque information meeting a preset first fault condition, determining a fault path and a non-fault path among the plurality of torque output paths based on the torque information; The output torque is stopped from being distributed to the fault path, and the output torque distributed to the fault path is redistributed to the non-fault path.

2. The method according to claim 1, characterized in that The output torque is a torque parameter obtained by filtering the initial torque distributed to the multiple torque output paths.

3. The method according to claim 1, characterized in that The method is executed by a vehicle controller, which includes a function layer and a monitoring layer; The method comprises: The functional layer obtains attribute information of the vehicle and determines torque information based on the attribute information; The monitoring layer determines whether the torque information meets a preset first fault condition, and in response to the torque information meeting the preset first fault condition, determines a fault path and a non-fault path among the multiple torque output paths based on the torque information; The functional layer stops distributing the output torque to the faulty path and redistributes the output torque distributed to the faulty path to the non-faulty path.

4. The method according to claim 1, wherein The first fault condition includes a preset engine fault condition, a preset front motor fault condition, and a preset rear motor fault condition; The method further comprises: In response to the torque information satisfying one or two of the preset engine fault condition, the preset front motor fault condition, and the preset rear motor fault condition, it is determined that the torque information satisfies the preset first fault condition.

5. The method according to claim 4, characterized in that The torque information includes engine torque information, front motor torque information, and rear motor torque information; the multiple torque output paths include engine torque output path, front motor torque output path, and rear motor torque output path; The determining of a fault path and a non-fault path among the plurality of torque output paths based on the torque information includes: In response to the engine torque information meeting a preset engine fault condition, determining the engine torque output path as a fault path; and in response to the engine torque information not meeting the preset engine fault condition, determining the engine torque output path as a non-fault path; In response to the front motor torque information meeting a preset front motor fault condition, determining the front motor torque output path as a fault path; and in response to the front motor torque information not meeting the preset front motor fault condition, determining the front motor torque output path as a non-fault path; In response to the rear motor torque information meeting the preset rear motor fault condition, the rear motor torque output path is determined to be a fault path; in response to the rear motor torque information not meeting the preset rear motor fault condition, the rear motor torque output path is determined to be a non-fault path.

6. The method according to claim 5, characterized in that The front motor torque information includes the front motor output torque allocated to the front motor torque output path, the rear motor torque information includes the rear motor output torque allocated to the rear motor torque output path, and the engine torque information includes the engine output torque allocated to the engine torque output path; The stopping of distributing the output torque to the fault path and reallocating the output torque distributed to the fault path to the non-fault path includes: In response to the faulty path being the front motor torque output path and the non-faulty path being the rear motor torque output path and / or the engine torque output path, stopping distribution of output torque to the front motor torque output path and redistributing the front motor output torque distributed to the front motor torque output path to the rear motor torque output path and / or the engine torque output path; In response to the faulty path being the rear motor torque output path and the non-faulty path being the front motor torque output path and / or the engine torque output path, stopping distributing the output torque to the rear motor torque output path and redistributing the rear motor output torque distributed to the rear motor torque output path to the front motor torque output path and / or the engine torque output path; In response to the fault path being the engine torque output path and the non-fault path being the rear motor torque output path and / or the front motor torque output path, distributing the output torque to the engine torque output path is stopped, and the engine output torque distributed to the engine torque output path is redistributed to the front motor torque output path and / or the rear motor torque output path.

7. The method according to claim 5, characterized in that The front motor torque information includes the front motor output torque allocated to the front motor torque output path, the rear motor torque information includes the rear motor output torque allocated to the rear motor torque output path, and the engine torque information includes the engine output torque allocated to the engine torque output path; The stopping of distributing the output torque to the fault path and reallocating the output torque distributed to the fault path to the non-fault path includes: In response to the faulty path being the front motor torque output path and the rear motor torque output path, and the non-faulty path being the engine torque output path, stopping distribution of output torque to the front motor torque output path and the rear motor torque output path, and reallocating the front motor output torque distributed to the front motor torque output path and the rear motor output torque distributed to the rear motor torque output path to the engine torque output path; In response to the faulty path being the front motor torque output path and the engine torque output path, and the non-faulty path being the rear motor torque output path, distributing the output torque to the front motor torque output path and the engine torque output path is stopped, and the front motor output torque distributed to the front motor torque output path and the engine output torque distributed to the engine torque output path are redistributed to the rear motor torque output path; In response to the faulty path being the engine torque output path and the rear motor torque output path, and the non-faulty path being the front motor torque output path, distributing the output torque to the engine torque output path and the rear motor torque output path is stopped, and the engine output torque distributed to the engine torque output path and the rear motor output torque distributed to the rear motor torque output path are redistributed to the front motor torque output path.

8. The method according to claim 5, characterized in that The method further comprises: In response to the faulty paths being the engine torque output path, the rear motor torque output path, and the front motor torque output path, the power of the entire vehicle is controlled to be reset to zero.

9. The method according to claim 8, characterized in that The control of the vehicle power reset includes: Stop distributing the output torque to the engine torque output path, the rear motor torque output path, and the front motor torque output path to control the power of the entire vehicle to be reset to zero.

10. The method according to claim 5, characterized in that The front motor torque information also includes a front motor torque upper limit and a front motor torque lower limit; the rear motor torque information also includes a rear motor torque upper limit and a rear motor torque lower limit; the engine torque information also includes an engine torque upper limit and an engine torque lower limit; The method further comprises: In response to the front motor output torque being greater than the front motor torque upper limit or less than the front motor torque lower limit, determining that the front motor torque information meets the preset front motor fault condition; In response to the rear motor output torque being greater than the rear motor torque upper limit or less than the rear motor torque lower limit, determining that the rear motor torque information meets the preset rear motor fault condition; In response to the engine output torque being greater than the engine torque upper limit or less than the engine torque lower limit, it is determined that the engine torque information meets the preset engine fault condition.

11. The method according to claim 1, wherein Also includes: In response to the torque information meeting the preset second fault condition, the vehicle power is controlled to be reset to zero.

12. The method according to claim 11, characterized in that The torque information includes total torque, total torque upper limit, total torque lower limit, front motor pre-filter torque, rear motor pre-filter torque and engine pre-filter torque; The method further comprises: In response to the total torque being greater than the total torque upper limit or less than the total torque lower limit, or the sum of the front motor pre-filtered torque, the rear motor pre-filtered torque and the engine pre-filtered torque being greater than the total torque upper limit or less than the total torque lower limit, it is determined that the torque information meets the preset second fault condition.

13. A vehicle torque distribution device, characterized in that: include: A processor, wherein the processor is configured to execute the following program modules stored in the memory: an acquisition module configured to acquire attribute information of the vehicle and determine torque information based on the attribute information, the torque information including output torques distributed to a plurality of torque output paths; a determination module configured to determine a faulty path and a non-faulty path among the plurality of torque output paths based on the torque information in response to the torque information meeting a preset first fault condition; The monitoring execution module is configured to stop distributing the output torque to the fault path and reallocate the output torque distributed to the fault path to the non-fault path.

14. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the method according to any one of claims 1 to 12 is implemented.

15. A vehicle, characterized in that: Includes the vehicle torque distribution device according to claim 13 or the electronic device according to claim 14.

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