Torque distribution method and apparatus, vehicle, and storage medium

Abstract

A torque distribution method and apparatus, a vehicle, and a storage medium. The method comprises: when a torque distribution ratio of a vehicle is within a preset ratio interval, acquiring the speed of the vehicle, wherein the preset ratio interval is an interval where an actual torque distribution ratio between a first motor and a second motor of the vehicle is located when the vehicle is configured to be driven by the first motor; determining a pre-torque value on the basis of the speed of the vehicle; and when the torque required by the vehicle increases, distributing a torque value to the second motor on the basis of the pre-torque value.

Description

Torque distribution method, device, vehicle and storage medium

[0001] The present disclosure claims priority to the Chinese patent application No. CN202410862502.9, filed on June 28, 2024, and entitled "Torque distribution method, device, vehicle and storage medium", the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present disclosure belongs to the technical field of automobiles, and in particular relates to a torque distribution method, device, vehicle and storage medium. BACKGROUND

[0003] Currently, when the front and rear axles of a new energy vehicle with a four-wheel drive configuration are distributed with torque, the torque distribution is generally performed according to the current driving mode of the vehicle. For example, the vehicle determines the current driving mode, determines the pre-labeled torque distribution ratio corresponding to the driving mode according to the driving mode, and performs torque distribution based on the torque distribution ratio.

[0004] However, the torque distribution of the front and rear axles of the vehicle according to the driving mode of the vehicle cannot meet the requirement of smooth driving of the vehicle in various driving conditions. SUMMARY

[0005] The present disclosure aims to provide a torque distribution method, device, vehicle and storage medium, and aims to solve the problem that the torque distribution of the front and rear axles of the vehicle according to the driving mode of the vehicle cannot meet the various driving conditions of the vehicle.

[0006] A first aspect of the embodiments of the present disclosure provides a torque distribution method, the method comprising: when a torque distribution ratio of a vehicle is in a preset ratio interval, acquiring a vehicle speed of the vehicle, the preset ratio interval being an interval in which an actual torque distribution ratio between a first motor and a second motor of the vehicle is located when the vehicle is driven by the first motor; determining a pre-torque value according to the vehicle speed of the vehicle; and when a required torque of the vehicle increases, distributing a torque value to the second motor based on the pre-torque value.

[0007] In some embodiments, when the required torque of the vehicle increases, the torque value is distributed to the second motor based on the pre-torque value, comprising: setting the torque value of the second motor to the pre-torque value; and when the required torque of the vehicle increases, increasing the torque value of the second motor from the pre-torque value.

[0008] In some embodiments, the increasing the torque value of the second motor from the pre-torque value when the vehicle required torque increases comprises: determining a total torque value required by the vehicle and a target torque distribution ratio between the first motor and the second motor when the vehicle required torque increases; determining a target torque value of the second motor based on the total torque value and the target torque distribution ratio; and increasing the torque of the second motor from the pre-torque value to the target torque value based on a preset gradient.

[0009] In some embodiments, the increasing the torque value of the second motor from the pre-torque value to the target torque value based on the preset gradient comprises: adjusting the torque distribution ratio of the second motor based on the preset gradient; and filtering the torque corresponding to the adjusted torque distribution ratio based on a preset filtering manner to obtain an output torque of the second motor until the output torque reaches the target torque value.

[0010] In some embodiments, the determining the pre-torque value according to the vehicle speed comprises: determining the pre-torque value corresponding to the vehicle speed from a correspondence between vehicle speed and pre-torque value, the correspondence between vehicle speed and pre-torque value being calibrated based on motor characteristics, and the pre-torque value being the minimum torque of the motor in a non-driving state when driving at any vehicle speed, the motor not producing jerk when the vehicle occurs zero phenomenon under the control of the pre-torque value corresponding to the vehicle speed, and not participating in driving.

[0011] In some embodiments, after the determining the pre-torque value according to the vehicle speed, the method further comprises: determining the positive or negative direction of the pre-torque value according to the driving state of the vehicle.

[0012] In some embodiments, the determining that the torque distribution ratio of the vehicle is in the preset ratio range comprises: obtaining a driving parameter of the vehicle; determining an actual torque distribution ratio of the first motor and the second motor of the vehicle according to the driving parameter of the vehicle; determining a preset ratio range of the vehicle; and determining that the torque distribution ratio of the vehicle is in the preset ratio range when the actual torque distribution ratio of the vehicle is greater than a minimum value of the preset ratio range and the actual torque distribution ratio of the vehicle is less than a maximum value of the preset ratio range.

[0013] In some embodiments, the driving parameter comprises a driving mode and a total torque value of the vehicle, and the determining the actual torque distribution ratio of the first motor and the second motor of the vehicle according to the driving parameter of the vehicle comprises: determining a torque distribution ratio calculation manner of the torque distribution ratio of the vehicle according to the driving mode and the total torque value, and calculating the actual torque distribution ratio of the first motor and the second motor by the torque distribution ratio calculation manner.

[0014] In some embodiments, the determining the preset proportion interval of the vehicle comprises: determining a driving motor of the vehicle; and acquiring the preset proportion interval corresponding to the driving motor.

[0015] A second aspect of the embodiments of the present disclosure provides a torque distribution device, the device comprising: a first acquisition unit configured to acquire a vehicle speed of a vehicle when a torque distribution proportion of the vehicle is in a preset proportion interval, the preset proportion interval being an interval in which an actual torque distribution proportion between a first motor and a second motor of the vehicle is located when the vehicle is driven by the first motor; a first determination unit configured to determine a pre-torque value according to the vehicle speed; and a torque distribution unit configured to distribute a torque value to the second motor based on the pre-torque value when a required torque of the vehicle is increased.

[0016] A third aspect of the embodiments of the present disclosure provides a vehicle, comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and the processor implements the torque distribution method as described above when executing the computer program.

[0017] A fourth aspect of the embodiments of the present disclosure provides a computer readable storage medium, the computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the torque distribution method as described above.

[0018] Compared with the prior art, the embodiments of the present disclosure have the beneficial effects that: in the embodiments of the present disclosure, when the torque distribution proportion of the vehicle is in the preset proportion interval, it is determined that the vehicle may currently be in a single motor driving condition, and a pre-torque value is determined according to the vehicle speed, and the pre-torque value is supplemented to the non-driving motor, so that when the vehicle needs to increase the torque, the non-driving motor can start torque distribution from the pre-torque value, preventing the phenomenon of zero torque of the non-driving motor, and further preventing the condition of zero torque of the motor, optimizing the driving experience, and the vehicle can accelerate immediately, improving the response efficiency of torque output and improving the driving performance of the vehicle.

[0019] In addition, the present disclosure provides a method for distributing torque to front and rear axle driving motors of a vehicle in a low speed state, which enriches the torque distribution mode and meets the demand that the vehicle can also travel smoothly when accelerating in a low speed state. BRIEF DESCRIPTION OF DRAWINGS

[0020] FIG. 1 shows a schematic diagram of a torque distribution system involved in a torque distribution method according to an example embodiment;

[0021] FIG. 2 shows a flowchart of a torque distribution method according to an example embodiment;

[0022] FIG. 3 shows a flowchart of a torque distribution method according to an example embodiment;

[0023] FIG. 4 shows a flowchart of a torque distribution method according to an example embodiment;

[0024] FIG. 5 shows a flowchart of a torque distribution method according to an example embodiment;

[0025] FIG. 6 shows a structural diagram of a torque distribution device according to an example embodiment;

[0026] FIG. 7 is a structural diagram of a vehicle according to an example embodiment. DETAILED DESCRIPTION

[0027] In order to make the technical problems to be solved by the present disclosure, the technical solutions and the beneficial effects clearer, the present disclosure will be further described in detail below with reference to the drawings and examples.

[0028] When there is a backlash in the gear in the motor transmission chain of the current new energy vehicle with four-wheel drive configuration, if the motor torque produces a zero-crossing situation after commutation (i.e., the torque changes from positive to negative, or the torque changes from negative to positive), the meshing surface of the gear in the motor transmission chain will change. At this time, if the motor commutation speed is too fast, an impact will occur when the meshing surface changes, resulting in a feeling of jerk for the driver and a poor driving experience.

[0029] In some embodiments, when distributing torque to the front and rear axles, the torque is generally distributed according to the current driving mode of the vehicle. For example, the vehicle determines the current driving mode, determines the torque distribution ratio between the rear axle drive motor and the front axle drive motor in the driving mode, and then combines the current vehicle speed and throttle opening and other driving parameters to distribute the driver's requested torque to the front and rear axle drive systems. Then, the corresponding motor outputs the corresponding torque through the front and rear axle drive systems to achieve torque distribution.

[0030] When the front and rear axle torques are calculated in the above manner, when distributing low torque, the motor efficiency is low in the case of low torque. In order to achieve the optimal result of energy consumption, the torque is usually distributed to one motor, i.e., the distribution ratio calculation result is 100% or 0%.

[0031] However, when the driver drives the four-wheel drive vehicle, in the driving mode of low torque, in the case of sudden acceleration from a stationary state or low torque, etc., the torque distribution ratio of one of the two motors will start to decrease from 100%, while the other will start to rise from 0%. At this time, the motor will have a zero-crossing situation and produce a jerk.

[0032] In some embodiments, in order to alleviate the jerk feeling generated by the vehicle and improve the driving experience of the driver, the vehicle filters the output torque of the motor, slows down the torque output through filtering, reduces the speed of motor commutation, and further reduces the impact generated when the meshing surface of the motor changes, thereby achieving the purpose of reducing the jerk of the motor. However, after filtering the output torque of the motor, the acceleration process of the vehicle is slowed down due to the slow torque output, resulting in a poor experience of accelerating the vehicle.

[0033] In order to improve the driving experience of the driver, the present disclosure provides a torque distribution method, device, vehicle and storage medium. Wherein, the torque distribution method determines the pre-torque value of the non-driving motor based on the current speed of the vehicle, and makes the gear meshing surface of the non-driving motor in a fitted state through the pre-torque value, so that when the required torque of the vehicle increases, the gear meshing surface of the non-driving motor can start torque adjustment from the fitted state, thereby preventing the motor torque from being zero and optimizing the driving experience. The torque distribution method provided by the embodiments of the present disclosure is introduced in detail below.

[0034] Referring to FIG. 1, it shows a torque distribution system involved in the torque distribution method provided by an exemplary embodiment. Referring to FIG. 1, the torque distribution system includes a vehicle controller 10, a driving parameter sensing system 20, a front axle driving motor 30 and a rear axle driving motor 40. The vehicle controller 10 is in communication connection with the front axle driving motor 30 and the rear axle driving motor 40 respectively.

[0035] Wherein, the driving parameter sensing system 20 includes various sensors or other devices for obtaining different driving parameters of the vehicle. For example, the driving parameter sensing system 20 includes a vehicle speed sensor for detecting the driving speed of the vehicle and sending the driving speed of the vehicle to the vehicle controller 10.

[0036] The vehicle controller 10 is configured to receive the driving parameters of the vehicle sent by the driving parameter sensing system 20, determine whether the preset proportion interval is met based on the driving parameters, if the driving parameters are within the preset proportion interval, execute the torque distribution method provided by the present disclosure, otherwise, control the torque distribution of the vehicle according to the corresponding driving mode, and further control the driving of the vehicle.

[0037] The vehicle controller 10 is further configured to adjust the torque of the non-driving motor of the vehicle based on the pre-torque value. The front axle driving motor 30 and the rear axle driving motor 40 are configured to receive the pre-torque value sent by the vehicle controller 10, adjust the output torque based on the pre-torque value, and work according to the corresponding output torque.

[0038] In the embodiments of the present disclosure, when the torque distribution ratio of the vehicle is in the preset ratio interval, it is determined that the vehicle is currently in a single motor driving condition, a pre-torque value is determined according to the vehicle speed, and the pre-torque value is supplemented to the non-driving motor. In this way, when the vehicle needs to increase the torque, the non-driving motor can start torque distribution from the pre-torque value, preventing the phenomenon of zero torque of the non-driving motor, preventing the condition of zero torque of the motor, optimizing the driving experience, and improving the response efficiency of torque output and the driving performance of the vehicle.

[0039] The torque distribution method of the present disclosure will be described below in combination with specific embodiments. Referring to FIG. 2, a flowchart of a torque distribution method provided in an exemplary embodiment is shown. As an example but not limitation, the method is applied to a vehicle provided with the torque distribution system described above.

[0040] S201, when the torque distribution ratio of the vehicle is in the preset ratio interval, the vehicle obtains the vehicle speed, and the preset ratio interval is an interval in which the actual torque distribution ratio between the first motor and the second motor of the vehicle is located when the vehicle is driven by the first motor.

[0041] The torque distribution ratio of the vehicle refers to the proportion of the rear axle driving motor to the total torque; or the torque distribution ratio refers to the proportion of the front axle driving motor to the total torque; or the torque distribution ratio is the proportion of the front and rear axle driving motors. In the embodiments of the present disclosure, the torque distribution ratio is not specifically limited.

[0042] The first motor can be a front axle driving motor or a rear axle driving motor. Correspondingly, when the first motor is a front axle driving motor, the second motor is a rear axle driving motor; when the first motor is a rear axle driving motor, the second motor is a front axle driving motor.

[0043] The vehicle can determine the actual torque distribution ratio of the first motor and the second motor of the vehicle and the preset ratio interval, and then determine whether the actual torque distribution ratio is in the preset ratio interval. Referring to FIG. 3, this step can be realized by the following steps S2011-S2014, including:

[0044] S2011, the vehicle obtains the driving parameter of the vehicle.

[0045] The driving parameter is a parameter for indicating the torque of the front and rear motors of the vehicle. In some embodiments, the driving parameter is the torque value of the front and rear axle motors; or the driving parameter is the total torque value of the vehicle and the driving mode of the vehicle, and the like. The vehicle can determine the distribution ratio of the front and rear axle torque according to the total torque value and the driving mode of the vehicle and the like.

[0046] S2012, the vehicle determines an actual torque distribution ratio of the first motor and the second motor according to a driving parameter of the vehicle.

[0047] In some embodiments, the driving parameter includes an actual torque of the first motor and an actual torque of the second motor, and accordingly, the actual torque distribution ratio of the first motor and the second motor is determined according to the actual torque of the first motor and the actual torque of the second motor respectively. In some embodiments, the driving parameter includes a driving mode and a total torque value of the vehicle, and accordingly, the vehicle determines a torque distribution ratio calculation manner of the torque distribution ratio of the vehicle according to the driving mode and the total torque value, and calculates the actual torque distribution ratio of the first motor and the second motor by the torque distribution ratio calculation manner.

[0048] S2013, the vehicle determines a preset ratio interval of the vehicle.

[0049] The preset ratio interval is an interval range of the actual torque of the driving motor when the vehicle is driven by one motor. That is, the preset ratio interval can be determined according to the driving motor of the vehicle. Accordingly, the vehicle determines the driving motor of the vehicle, and obtains the preset ratio interval corresponding to the driving motor.

[0050] The preset ratio interval can be set as needed, and in the embodiments of the present disclosure, the preset ratio interval is not specifically limited. For example, taking the torque distribution ratio of the rear axle driving motor to the total torque as an example, when the vehicle is driven by the rear axle motor, the preset ratio interval can be [98%, 100%]; when the vehicle is driven by the front axle motor, the preset ratio interval can be [0%, 2%].

[0051] In the present implementation, the corresponding preset ratio interval is selected according to different driving states of the vehicle, which considers different situations and improves accuracy.

[0052] S2014, when the actual torque distribution ratio of the vehicle is greater than the minimum value of the preset ratio interval and the actual torque distribution ratio of the vehicle is less than the maximum value of the preset ratio interval, it is determined that the torque distribution ratio of the vehicle is in the preset ratio interval.

[0053] The vehicle determines the maximum value and the minimum value of the preset ratio interval, compares the actual torque distribution ratio of the vehicle with the maximum value and the minimum value of the preset ratio interval, when the actual torque distribution ratio of the vehicle is greater than the minimum value of the preset ratio interval and the actual torque distribution ratio of the vehicle is less than the maximum value of the preset ratio interval, it is determined that the torque distribution ratio of the vehicle is in the preset ratio interval, and step S202 is executed, otherwise step S201 is continued.

[0054] S202, the vehicle determines a pre-torque value according to a vehicle speed of the vehicle.

[0055] The pre-torque value is the minimum torque at which the motor does not produce jerk when the vehicle occurs zero at the vehicle speed. In some embodiments, the vehicle calls a pre-stored correspondence between the vehicle speed and the pre-torque value, and finds the pre-torque value corresponding to the current vehicle speed from the correspondence. That is, from the correspondence between the vehicle speed and the pre-torque value, the pre-torque value corresponding to the vehicle speed is determined. In order to quickly determine the pre-torque value corresponding to the vehicle speed, the reaction speed of the vehicle is improved.

[0056] It should be noted that the positive and negative of the pre-torque value is determined by the current driving state of the vehicle, for example, the vehicle is in a forward state, and the pre-torque value is positive. Accordingly, after determining the pre-torque value, the vehicle also determines the positive and negative direction of the pre-torque value according to the driving state of the vehicle, so as to ensure that the contact surface of the motor is the contact surface that is likely to be impacted.

[0057] In order to ensure the accuracy of the determined pre-torque value, the correspondence between the vehicle speed and the pre-torque value of the vehicle needs to be calibrated before the vehicle is shipped. Accordingly, the vehicle calibrates the correspondence between the vehicle speed and the pre-torque value based on the motor characteristics, so that when the vehicle is driven at any vehicle speed in a non-driving state, the motor does not produce jerk when the vehicle occurs zero under the control of the pre-torque value corresponding to the vehicle speed. That is, the pre-torque value is the minimum torque at which the motor does not produce jerk and does not participate in driving when the vehicle occurs zero under the control of the pre-torque value corresponding to the vehicle speed when the vehicle is driven at any vehicle speed in a non-driving state. The vehicle manufacturer tests the vehicle based on the motor characteristics of the vehicle before the vehicle is shipped, to ensure that the non-driving motor of the vehicle does not produce jerk when the vehicle occurs zero under the control of the pre-torque value corresponding to the vehicle speed when the vehicle is driven at any vehicle speed.

[0058] In the present embodiment, the correspondence between the vehicle speed and the pre-torque value is calibrated before the vehicle is shipped, so that the vehicle can determine the pre-torque value corresponding to the current vehicle speed by table lookup during driving, improving the speed of the vehicle in determining the pre-torque value and ensuring the accuracy of the determined pre-torque value.

[0059] S203, when the required torque of the vehicle increases, the vehicle allocates a torque value to the second motor based on the pre-torque value.

[0060] The scenarios in which the required torque of the vehicle increases include but are not limited to scenarios in which the vehicle accelerates from a stationary state or a low-torque state, or scenarios in which the vehicle needs to increase the recovery torque, etc.

[0061] After the vehicle determines the pre-torque value in step S202, the vehicle assigns the pre-torque value to the second motor, i.e., the vehicle adjusts the torque of the second motor to the pre-torque value, so that the gear meshing surface of the motor can be fitted in the non-driving state. When the vehicle detects that the required torque increases, the vehicle adjusts the torque value of the second motor so that the torque output by the first motor and the second motor can meet the torque demand of the vehicle, wherein the torque value of the second motor is increased from the pre-torque value to meet the torque demand of the vehicle. The torque value of the first motor may increase or decrease according to different demands, and the torque value of the first motor is not limited in the embodiment of the present disclosure.

[0062] In the embodiment of the present disclosure, when the torque distribution ratio of the vehicle is within the preset ratio range, it is determined that the vehicle may currently be in a single motor driving condition, and the pre-torque value is determined according to the vehicle speed, and the pre-torque value is supplemented to the non-driving motor. In this way, when the vehicle needs to increase the torque, the non-driving motor can start torque distribution from the pre-torque value, preventing the phenomenon of zero torque of the non-driving motor, thereby preventing the condition of zero torque of the motor, optimizing the driving experience, and the vehicle can accelerate immediately, improving the response efficiency of torque output and improving the driving performance of the vehicle.

[0063] In order to make the motor output torque more stable and fast when adjusting the torque, the present disclosure also provides a method for adjusting the output torque during torque distribution, as shown in FIG. 4, which shows a flowchart of a torque distribution method provided by an exemplary embodiment. As an example but not limitation, the method is applied to a vehicle provided with the above torque distribution system.

[0064] S401, when the torque distribution ratio of the vehicle is within the preset ratio range, the vehicle obtains the vehicle speed, and the preset ratio range is the range of the actual torque distribution ratio between the first motor and the second motor of the vehicle when the vehicle is driven by the first motor.

[0065] This step has the same principle as step S201, which will not be repeated here.

[0066] S402, the vehicle determines the pre-torque value according to the vehicle speed.

[0067] This step has the same principle as step S202, which will not be repeated here.

[0068] S403, the vehicle sets the torque value of the second motor to the pre-torque value.

[0069] After determining the pre-torque value, the vehicle assigns the pre-torque value to the second motor, i.e., the vehicle adjusts the torque of the second motor to the pre-torque value, so that the gear meshing surface of the motor can be fitted in the non-driving state.

[0070] S404, when the vehicle required torque increases, the vehicle increases the torque value of the second motor from the pre-torque value.

[0071] When the vehicle required torque increases, the vehicle adjusts the torque of the second motor as the initial torque of the second motor, and then adjusts the torque distribution ratio between the first motor and the second motor based on the preset gradient, so that the first motor and the second motor can meet the torque demand. Referring to FIG. 5, the process can be implemented through the following steps S4041-S4043, including:

[0072] S4041, when the vehicle required torque increases, the vehicle determines the total torque value required by the vehicle and the target torque distribution ratio between the first motor and the second motor.

[0073] The total torque required by the vehicle is the requested torque received by the vehicle when the vehicle required torque increases, and the total torque can be a value calculated by the vehicle according to the current working condition, which is not specifically limited in the embodiment of the present disclosure.

[0074] The target torque distribution ratio is the distribution ratio of the total torque occupied by the second motor, which can be determined according to the driving mode, vehicle speed, accelerator pedal opening degree, brake pedal opening degree and other driving parameters of the current vehicle, in combination with the existing torque distribution ratio calculation method considering power consumption or stability.

[0075] S4042, the vehicle determines the target torque value of the second motor based on the total torque value and the target torque distribution ratio.

[0076] The vehicle determines the product of the total torque value and the target torque distribution ratio as the target torque value of the second motor. For example, the target torque distribution ratio is 40%, and the total torque value is 6000 Nm, so the target torque value of the second motor is 2400 Nm.

[0077] It should be noted that the target torque distribution ratio can also be the torque distribution ratio occupied by the first motor, and accordingly, the vehicle can first determine the torque distributed by the first motor according to the total torque value and the target torque distribution ratio, and then determine the difference between the total torque value and the torque value distributed by the first motor as the target torque value of the second motor.

[0078] S4043, the vehicle increases the torque of the second motor from the pre-torque value to the target torque value based on the preset gradient.

[0079] The preset gradient refers to a change step of the torque distribution ratio within a preset time length. The change step can be a change step of the torque distribution ratio, or the change step can be a change step of the torque value. The preset gradient can be set as needed, and in the embodiments of the present disclosure, the preset gradient is not specifically limited. For example, the preset gradient is 25% per second, 20% per second, or 30% per second, and the like.

[0080] In this step, the vehicle adjusts the torque distribution ratio of the second motor based on the preset gradient, and filters the torque corresponding to the adjusted torque distribution ratio based on a preset filtering mode to obtain the output torque of the second motor until the output torque reaches the target torque value.

[0081] For example, the preset gradient is 25% per second, and the target torque distribution ratio of the vehicle is 40%, that is, the torque distribution ratio of the second motor needs to be increased from 0% to 40%. According to the gradient of 25% per second, after 500 ms, the torque distribution ratio of the second motor is increased to 12.5%. If the total torque value is 6000 Nm, the theoretical torque of the second motor is 750 Nm.

[0082] It should be noted that the above embodiments are described by taking 500 ms as an example, and in actual application, the torque distribution ratio of the vehicle is changed in real time based on the first change gradient.

[0083] In some embodiments, in order to improve the smoothness of the output torque of the vehicle, the vehicle continues to filter the calculated torque, and determines the filtered torque as the output torque of the second motor. Correspondingly, after the vehicle determines the theoretical torque of the second motor based on the adjusted torque distribution ratio and the total torque value, the vehicle filters the theoretical torque of the second motor based on a preset filtering mode to obtain the output torque of the second motor.

[0084] In the implementation, the change gradient of the distribution ratio and the output torque filtering process are combined, so that the motor output torque is more gentle during torque adjustment, the jerk generated by the motor zero-crossing is further reduced, and the driving experience is improved.

[0085] It should be noted that for the first motor, the vehicle can also adjust the torque value of the first motor by using the above implementation, so that the vehicle can increase the torque in a more stable manner.

[0086] In the embodiments of the present disclosure, when the torque distribution ratio of the vehicle is in a preset ratio interval, it is determined that the vehicle is currently in a single motor driving condition, a pre-torque value is determined according to the vehicle speed, and the pre-torque value is supplemented to the non-driving motor. In this way, when the vehicle needs to increase the torque, the non-driving motor can start torque distribution from the pre-torque value, preventing the phenomenon of zero torque of the non-driving motor, preventing the condition of zero torque of the motor, optimizing the driving experience, and improving the response efficiency of torque output and the driving performance of the vehicle.

[0087] In addition, the present disclosure provides a method for torque distribution of front and rear axle driving motors of a vehicle in a low speed state, which enriches the torque distribution mode and meets the demand that the vehicle can smoothly drive when accelerating in a low speed state.

[0088] It should be understood that the size of the serial number of each step in the above embodiments does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present disclosure.

[0089] Referring to FIG. 6, a structural schematic diagram of a torque distribution device provided by the present disclosure is shown, which includes various units for executing each step in the above embodiments. Referring to FIG. 6, the torque distribution device includes: a first acquisition unit 601 configured to acquire a vehicle speed of a vehicle when a torque distribution ratio of the vehicle is in a preset ratio interval, the preset ratio interval being an interval of an actual torque distribution ratio between a first motor and a second motor of the vehicle when the vehicle is driven by the first motor; a first determination unit 602 configured to determine a pre-torque value according to the vehicle speed; and a torque distribution unit 603 configured to distribute a torque value to the second motor based on the pre-torque value when a required torque of the vehicle increases.

[0090] In some embodiments, the torque distribution unit 603 is configured to set the torque value of the second motor as the pre-torque value, and increase the torque value of the second motor from the pre-torque value when the required torque of the vehicle increases.

[0091] In some embodiments, the torque distribution unit 603 is configured to determine a total torque value required by the vehicle and a target torque distribution ratio between the first motor and the second motor when the required torque of the vehicle increases, determine a target torque value of the second motor based on the total torque value and the target torque distribution ratio, and increase the torque of the second motor based on a preset gradient from the pre-torque value to the target torque value.

[0092] In some embodiments, the torque distribution unit 603 is configured to adjust the torque distribution ratio of the second motor based on the preset gradient; filter the torque corresponding to the adjusted torque distribution ratio based on a preset filtering mode to obtain the output torque of the second motor until the output torque reaches the target torque value.

[0093] In some embodiments, the first determining unit 602 is configured to determine a pre-torque value corresponding to the vehicle speed from a correspondence between the vehicle speed and the pre-torque value; wherein the correspondence between the vehicle speed and the pre-torque value is calibrated based on motor characteristics, and the pre-torque value is the minimum torque of the motor in a non-driving state when the vehicle travels at any vehicle speed, the motor does not produce jerk when the vehicle experiences zero phenomenon under the control of the pre-torque value corresponding to the vehicle speed, and does not participate in driving.

[0094] In some embodiments, the device further comprises: a second obtaining unit configured to obtain a driving parameter of the vehicle; a second determining unit configured to determine an actual torque distribution ratio of the first motor and the second motor of the vehicle according to the driving parameter of the vehicle; a third determining unit configured to determine a preset ratio interval of the vehicle; and a fourth determining unit configured to determine that the torque distribution ratio of the vehicle is in the preset ratio interval when the actual torque distribution ratio of the vehicle is greater than the minimum value of the preset ratio interval and the actual torque distribution ratio of the vehicle is less than the maximum value of the preset ratio interval.

[0095] In some embodiments, the third determining unit is configured to determine a drive motor of the vehicle; and obtain the preset ratio interval corresponding to the drive motor.

[0096] In the embodiments of the present disclosure, when the torque distribution ratio of the vehicle is in the preset ratio interval, it is determined that the vehicle may currently be in a single-motor driving condition, so as to determine a pre-torque value according to the vehicle speed, and supplement the pre-torque value to the non-driving motor. In this way, when the vehicle needs to increase the torque, the non-driving motor can start torque distribution from the pre-torque value, preventing the phenomenon of zero torque of the non-driving motor, and further preventing the condition of zero torque of the motor, optimizing the driving experience. In addition, the vehicle can accelerate immediately, improving the response efficiency of torque output and improving the driving performance of the vehicle.

[0097] In addition, the present disclosure provides a device for torque distribution of front and rear axle drive motors of a vehicle in a low-speed state, which enriches the torque distribution mode and meets the demand that the vehicle can also travel smoothly when accelerating in a low-speed state.

[0098] FIG. 7 is a schematic diagram of a vehicle according to an example embodiment of the present disclosure. As shown in FIG. 7, the vehicle 7 of this embodiment includes a processor 70, a memory 71, and a computer program 72, such as a torque distribution program, stored in the memory 71 and executable on the processor 70. The processor 70 implements the steps of the above-described various torque distribution method embodiments, such as steps S201-S203 shown in FIG. 2, when executing the computer program 72. Alternatively, the processor 70 implements the functions of the units of the above-described various device embodiments, such as the functions of the units 601-603 shown in FIG. 6, when executing the computer program 72.

[0099] For example, the computer program 72 can be divided into one or more units stored in the memory 71 and executed by the processor 70 to implement the present disclosure. The one or more units can be a series of computer program instruction segments capable of completing a specific function, which are used to describe the execution process of the computer program 72 in the vehicle 7. For example, the computer program 72 can be divided into a first acquisition unit, a first determination unit, and a torque distribution unit, each of which has the following specific functions: the first acquisition unit is configured to acquire a vehicle speed of the vehicle when a torque distribution ratio of the vehicle is in a preset ratio interval, the preset ratio interval being an interval in which an actual torque distribution ratio between the first motor and the second motor of the vehicle is set when the vehicle is driven by the first motor; the first determination unit is configured to determine a pre-torque value according to the vehicle speed; and the torque distribution unit is configured to distribute a torque value to the second motor based on the pre-torque value when a required torque of the vehicle increases.

[0100] The vehicle 7 can be any vehicle with a control function. The vehicle 7 can include but is not limited to the processor 70 and the memory 71. Those skilled in the art can understand that FIG. 7 is merely an example of the vehicle 7 and does not limit the vehicle 7, which can include more or fewer components than those shown, or combine certain components, or different components, such as the vehicle 7 can also include input / output devices, network access devices, buses, etc.

[0101] The processor 70 can be a central processing unit (CPU), and can also be other general-purpose processors, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, etc. The general-purpose processor can be a microprocessor, or the processor can also be any conventional processor.

[0102] The memory 71 can be an internal storage unit of the vehicle 7, such as a hard disk or a memory of the vehicle 7. The memory 71 can also be an external storage device of the vehicle 7, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. provided on the vehicle 7. Further, the memory 71 can also include both the internal storage unit and the external storage device of the vehicle 7. The memory 71 is used to store the computer program and other programs and data required by the terminal device. The memory 71 can also be used to temporarily store data that has been output or is to be output.

[0103] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional units and modules is exemplified, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the above described functions. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit, and the integrated unit can be realized in the form of hardware or in the form of software functional unit. In addition, the specific names of each functional unit and module are only for easy distinction, and do not limit the protection scope of the disclosure. The specific working process of the units and modules in the system can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0104] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described or recorded in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0105] Those skilled in the art can understand that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present disclosure.

[0106] In the embodiments provided by the present disclosure, it should be understood that the disclosed apparatus / terminal device and method can be implemented in other ways. For example, the apparatus / terminal device embodiments described above are merely schematic, and the division of the modules or units is merely a logical function division, and there can be another division manner in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between the units can be indirect couplings or communication connections through some interfaces, devices or units, and can be electrical, mechanical or in other forms.

[0107] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e. can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiments.

[0108] The integrated module / unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the above-mentioned embodiment methods can also be completed by instructing related hardware through a computer program, and the computer program can be stored in a computer readable storage medium. The computer program can implement the steps of each method embodiment described above when executed by a processor. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or some intermediate forms. The computer readable medium can include any entity or device, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. that can carry the computer program code. It should be noted that the computer readable medium can include or exclude contents according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.

[0109] The embodiments of the present disclosure also provide a computer readable storage medium, which stores a computer program. The computer program is executed by a processor to implement the steps in the above-mentioned method embodiments.

[0110] The embodiments of the present disclosure also provide a computer program product. When the computer program product is run on a mobile terminal, the mobile terminal can implement the steps in the above-mentioned method embodiments.

[0111] The above-mentioned embodiments are only used to illustrate the technical solutions of the present disclosure, rather than limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure, and should be included in the protection scope of the present disclosure.

Claims

1. A torque distribution method, characterized in that, The method includes: When the torque distribution ratio of the vehicle is within a preset ratio range, the vehicle speed is obtained. The preset ratio range is the range in which the actual torque distribution ratio between the first motor and the second motor of the vehicle is located when the vehicle is driven by the first motor. The pre-torque value is determined based on the vehicle speed; When the required torque of the vehicle increases, the second motor allocates a torque value based on the pre-torque value.

2. The method as described in claim 1, characterized in that, When the required torque of the vehicle increases, the second motor is allocated a torque value based on the pre-torque value, including: Set the torque value of the second motor to the pre-torque value; When the required torque of the vehicle increases, the torque value of the second motor is increased starting from the pre-torque value.

3. The method as described in claim 2, characterized in that, The step of increasing the torque value of the second motor starting from the pre-torque value when the required torque of the vehicle increases includes: When the required torque of the vehicle increases, determine the total required torque value of the vehicle and the target torque distribution ratio between the first motor and the second motor; Based on the total torque value and the target torque distribution ratio, the target torque value of the second motor is determined; Starting from the pre-torque value, the torque of the second motor is increased to the target torque value based on a preset gradient.

4. The method as described in claim 3, characterized in that, The step of increasing the torque of the second motor to the target torque value based on a preset gradient, starting from the pre-torque value, includes: The torque distribution ratio of the second motor is adjusted based on the preset gradient. The torque corresponding to the adjusted torque distribution ratio is filtered based on a preset filtering method to obtain the output torque of the second motor until the output torque reaches the target torque value.

5. The method as described in claim 1, characterized in that, Determining the pre-torque value based on the vehicle speed includes: The pre-torque value corresponding to the vehicle speed is determined from the correspondence between vehicle speed and pre-torque value; The relationship between the vehicle speed and the pre-torque value is based on the motor characteristics calibration. The pre-torque value is the minimum torque at which the motor, when traveling at any vehicle speed in a non-driving state, does not produce a jerking when the vehicle crosses zero under the control of the pre-torque value corresponding to the vehicle speed, and does not participate in driving.

6. The method according to any one of claims 1-5, characterized in that, After determining the pre-torque value based on the vehicle speed, the method further includes: The positive and negative directions of the pre-torque value are determined based on the vehicle's driving state.

7. The method according to any one of claims 1-5, characterized in that, Determining that the torque distribution ratio of the vehicle is within a preset ratio range includes: Obtain the vehicle's driving parameters; Based on the vehicle's driving parameters, determine the actual torque distribution ratio between the vehicle's first motor and second motor. Determine the preset ratio range of the vehicle; When the current actual torque distribution ratio of the vehicle is greater than the minimum value of the preset ratio range and the current actual torque distribution ratio of the vehicle is less than the maximum value of the preset ratio range, the torque distribution ratio of the vehicle is determined to be within the preset ratio range.

8. The method as described in claim 7, characterized in that, The driving parameters include the vehicle's driving mode and total torque value. Determining the actual torque distribution ratio between the first motor and the second motor of the vehicle based on the vehicle's driving parameters includes: The torque distribution ratio calculation method determines the torque distribution ratio of the vehicle based on the driving mode and the total torque value, and calculates the actual torque distribution ratio of the first motor and the second motor at the current time through the torque distribution ratio calculation method.

9. The method as described in claim 8, characterized in that, Determining the preset ratio range of the vehicle includes: Identify the vehicle's drive motor; Obtain the preset ratio range corresponding to the drive motor.

10. A torque distribution device, characterized in that, The device includes: The acquisition unit (601) is used to acquire the vehicle speed when the torque distribution ratio of the vehicle is within a preset ratio range. The preset ratio range is the range in which the actual torque distribution ratio between the first motor and the second motor of the vehicle is located when the vehicle is driven by the first motor. The determining unit (602) is used to determine the pre-torque value based on the vehicle speed; A torque distribution unit (603) is used to distribute a torque value to a second motor based on the pre-torque value when the required torque of the vehicle increases.

11. A vehicle comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the torque distribution method as described in any one of claims 1 to 9.

12. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the torque distribution method as described in any one of claims 1 to 9.

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