Vehicle drift control method and device, electric drive system, vehicle, and medium

Abstract

A vehicle drift control method and device (500), an electric drive system (600), a vehicle (700), and a computer-readable storage medium. The method comprises: when a drift function of a vehicle is activated, executing a torque distribution action, wherein the torque distribution action comprises: distributing base torque to a front axle and a rear axle, performing torque transfer between the front axle and the rear axle, and performing torque transfer between a left rear wheel and a right rear wheel; and on the basis of target torque of each wheel, performing torque control on a motor corresponding to each wheel, wherein the target torque is a torque value corresponding to each wheel determined upon completion of the torque distribution action. The control device and the vehicle each comprise a motor control unit (502) and a vehicle controller (501) that are capable of executing the control method, the electric drive system comprises the control device, and the medium comprises a computer program capable of executing the control method.

Description

Vehicle drift control methods, devices, electric drive systems, vehicles and media

[0001] This application claims priority to Chinese patent application No. 202411048559.1, filed on July 31, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of vehicle control technology, and in particular to a vehicle drift control method, a control device, an electric drive system, a vehicle, and a computer-readable storage medium. Background Technology

[0003] With the development of automotive control technology, users have increasingly higher demands for the comfort and controllability of vehicles. For many users, making a vehicle drift through their own control is a challenging task.

[0004] To provide users with a better drifting experience, some vehicles use drift assist technology to help beginners achieve their drifting goals, making it easier to drift. Summary of the Invention

[0005] This disclosure presents a vehicle drift control method, a vehicle drift control device, a vehicle, and a computer-readable storage medium.

[0006] Firstly, a vehicle drift control method is provided, the method comprising:

[0007] After the vehicle activates the drift function, a torque distribution action is performed; the torque distribution action includes: distributing base torque to the front axle and the rear axle, transferring torque between the front axle and the rear axle, and transferring torque between the left rear wheel and the right rear wheel;

[0008] Based on the target torque of each wheel, torque control is performed on the motor corresponding to each wheel. The target torque is the torque value corresponding to each wheel determined after the torque distribution action is completed.

[0009] In some embodiments, the torque distribution action performed after the vehicle activates the drift function includes:

[0010] After the vehicle activates the drift function, the required torque and the basic distribution ratio are obtained;

[0011] The base torque of the first front axle and the base torque of the first rear axle are determined based on the required torque and the base distribution ratio.

[0012] In some embodiments, the step of performing torque distribution after the vehicle activates the drift function further includes:

[0013] After determining the first front axle base torque and the first rear axle base torque, if it is determined that the first front axle base torque is greater than the front axle torque limit, then the second front axle base torque and the second rear axle base torque are re-determined according to the front axle torque limit and the base distribution ratio.

[0014] In some embodiments, the method further includes:

[0015] Determine the drift state of the vehicle;

[0016] The torque distribution action performed after the vehicle activates the drift function includes:

[0017] When the vehicle activates the drift function and is in a drifting state, torque is transferred between the front axle and the rear axle.

[0018] In some embodiments, when the drift state is a drifting state, the torque transfer to the front axle and the rear axle includes:

[0019] When the drift state is the drifting state, the first dynamic parameter is obtained;

[0020] Based on the first dynamic parameter, torque transfer is performed on the front axle and the rear axle.

[0021] In some embodiments, the first dynamic parameter includes at least two of the following: the vehicle's target sideslip angle, actual sideslip angle, yaw rate, and road surface adhesion coefficient.

[0022] In some embodiments, the torque transfer between the front axle and the rear axle based on the actual sideslip angle, the yaw rate, and the road adhesion coefficient includes:

[0023] The first transfer ratio is determined based on the yaw rate and the road surface adhesion coefficient.

[0024] The second transfer ratio is determined based on the actual sideslip angle and the road surface adhesion coefficient;

[0025] The gain coefficient is determined based on the difference between the actual sideslip angle and the target sideslip angle.

[0026] The inter-axis transfer ratio is obtained based on the first transfer ratio, the second transfer ratio, and the gain coefficient;

[0027] Torque transfer is performed on the front axle and the rear axle according to the inter-axle transfer ratio.

[0028] In some embodiments, the step of performing torque distribution after the vehicle activates the drift function further includes:

[0029] When the drift state is in the initial drift state or the drifting state, torque is transferred to the left rear wheel and the right rear wheel.

[0030] In some embodiments, when the drift state is in the initial drift state or in the middle drift state, the torque transfer to the left and right rear wheels includes:

[0031] When the drift state is in the initial drift state or the drifting state, the second dynamic parameter is obtained;

[0032] Based on the second dynamic parameter, torque transfer is performed on the left rear wheel and the right rear wheel.

[0033] In some embodiments, the second dynamic parameter includes at least one of the vehicle's lateral acceleration, steering wheel rotation rate, and reference vehicle speed.

[0034] In some embodiments, the torque transfer to the left and right rear wheels based on the lateral acceleration and the steering wheel rotation rate includes:

[0035] The third transfer ratio is determined based on the lateral acceleration.

[0036] The fourth transfer ratio is determined based on the steering wheel angle rate.

[0037] Determine the vehicle speed correction factor based on the reference vehicle speed;

[0038] The wheel-to-wheel transfer ratio is determined based on the third transfer ratio, the fourth transfer ratio, and the vehicle speed correction coefficient.

[0039] According to the wheel transfer ratio, torque is transferred between the left rear wheel and the right rear wheel.

[0040] In some embodiments, the method further includes:

[0041] After the vehicle activates the drift function, the actual slip and target slip of each wheel are determined.

[0042] The torque limit of each wheel is determined based on the actual slip and the target slip of each wheel respectively; after the torque distribution action is performed, the torque of each wheel is less than or equal to the corresponding torque limit.

[0043] In some embodiments, determining the torque limit of each wheel based on the actual slip and the target slip of each wheel includes:

[0044] Proportional-integral-derivative (PID) control is performed on each wheel based on the target slip and the actual slip, respectively, to determine the torque limit of each wheel.

[0045] In some embodiments, determining the actual slippage of each wheel includes:

[0046] Determine the reference speed of the vehicle;

[0047] The actual slippage of each wheel is determined based on the reference vehicle speed.

[0048] In some embodiments, determining the reference speed of the vehicle includes:

[0049] Obtain the wheel speed of each wheel;

[0050] The first front axle longitudinal speed is determined based on the right front wheel speed, and the second front axle longitudinal speed is determined based on the left front wheel speed.

[0051] When the vehicle turns left, the first front axle longitudinal speed is used as the reference speed; when the vehicle turns right, the second front axle longitudinal speed is used as the reference speed.

[0052] In some embodiments, determining the actual slip of each wheel based on the reference vehicle speed includes:

[0053] The actual slippage of each wheel is determined based on the wheel speed of each wheel and the reference vehicle speed.

[0054] In some embodiments, the method further includes:

[0055] Determine the current drift gear;

[0056] Based on the current drift gear, the vehicle dynamic control system is set to a predetermined threshold, or the vehicle dynamic control system is turned off.

[0057] In some embodiments, the method further includes:

[0058] When the vehicle dynamic control system is activated, torque transfer to the front and rear axles is stopped; and torque is distributed to the left and right rear wheels according to a preset distribution ratio.

[0059] Secondly, an apparatus is provided, the apparatus comprising:

[0060] The vehicle controller and the motor control unit are configured to perform the vehicle drift control method described above.

[0061] Thirdly, an electric drive system is provided, which includes a first motor, a second motor, a third motor, and a control device as described above.

[0062] The first motor is configured to output torque to the left and right front wheels;

[0063] The second motor is configured to output torque to the left wheel of the rear axle;

[0064] The third motor is configured to output torque to the right wheel of the rear axle;

[0065] Fourthly, a vehicle is provided, the vehicle comprising: a vehicle controller and a motor control unit; the vehicle controller and the motor control unit are configured to perform the vehicle drift control method described above.

[0066] Fifthly, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the vehicle drift control method described above.

[0067] Some embodiments of this disclosure include the following advantages:

[0068] In some embodiments of this disclosure, after the vehicle's drift function is activated, a base torque is distributed to the front and rear axles, ensuring that the required torque is distributed as much as possible to the rear axle, making it easier for the vehicle to initiate a drift. Torque transfer between the front and rear axles maintains the vehicle's drift posture. Torque transfer between the left and right rear wheels allows for a larger drift angle. Based on the torque of each wheel after the torque distribution action, the motors corresponding to each wheel are controlled for torque control. By distributing base torque to the front and rear axles, transferring torque between the front and rear axles, and transferring torque between the left and right rear wheels, the user's operating difficulty is reduced, allowing the user to more easily achieve better drift results. Attached Figure Description

[0069] Figure 1 is a schematic diagram of a vehicle drift control system according to some embodiments;

[0070] Figure 2 is a flowchart of a vehicle drift control method according to some embodiments;

[0071] Figure 3 is another flowchart of a vehicle drift control method according to some embodiments;

[0072] Figure 4 is a logic diagram of a state machine operation according to some embodiments;

[0073] Figure 5 is another flowchart of a vehicle drift control method according to some embodiments;

[0074] Figure 6 is another flowchart of a vehicle drift control method according to some embodiments;

[0075] Figure 7 is another flowchart of a vehicle drift control method according to some embodiments;

[0076] Figure 8 is another flowchart of a vehicle drift control method according to some embodiments;

[0077] Figure 9 is another flowchart of a vehicle drift control method according to some embodiments;

[0078] Figure 10 is another flowchart of a vehicle drift control method according to some embodiments;

[0079] Figure 11 is another flowchart of a vehicle drift control method according to some embodiments;

[0080] Figure 12 is another flowchart of a vehicle drift control method according to some embodiments;

[0081] Figure 13 is another flowchart of a vehicle drift control method according to some embodiments;

[0082] Figure 14 is another flowchart of a vehicle drift control method according to some embodiments;

[0083] Figure 15 is another flowchart of a vehicle drift control method according to some embodiments;

[0084] Figure 16 is another flowchart of a vehicle drift control method according to some embodiments;

[0085] Figure 17 is a block diagram of a vehicle drift control device according to some embodiments;

[0086] Figure 18 is a block diagram of an electric drive system according to some embodiments;

[0087] Figure 19 is a block diagram of a vehicle according to some embodiments. Detailed Implementation

[0088] To make the above-mentioned objectives, features and advantages of this disclosure more apparent and understandable, the disclosure will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0089] While drift assist technology in related technologies provides torque distribution between the front and rear axles to assist drifting, the drifting effect is still not good and the user operation is still relatively high.

[0090] Compared to drift assist technologies in related technologies that only provide torque distribution between the front and rear axles, some embodiments of this disclosure can also transfer torque between the front and rear axles, and between the left and right rear wheels. This can reduce the difficulty of operation for users and make it easier for them to control the vehicle to drift.

[0091] Referring to FIG1, a schematic diagram of a vehicle drift control system according to some embodiments of the present disclosure is shown. The vehicle drift control system may include: a vehicle display screen, a vehicle control unit (VCU), multiple subsystems, an electronic stability program (ESP), and a motor control unit (MCU).

[0092] For example, multiple subsystems may include: suspension system, vehicle dynamics control (VDC), and electronic power steering (EPS); ESP includes: antilock brake system (ABS) and traction control system (TCS).

[0093] Users can input drift switch commands on the vehicle's display screen. The vehicle controller forwards these commands to various subsystems. Each subsystem responds to the drift command, performs a self-check, and returns feedback information to the vehicle controller. The vehicle controller determines whether to activate the drift function based on the self-check feedback, and the vehicle display screen shows a drift function fault message. Once the drift function is activated, the suspension system adjusts its height and switches damping styles, while the electronic power steering system switches styles. Users can input the drift amplitude on the vehicle display screen, and the vehicle controller controls the vehicle's dynamic control system to switch styles based on the drift amplitude. Different drift amplitudes correspond to different styles of the vehicle's dynamic control system (high threshold, fully off, etc.).

[0094] The vehicle controller can monitor the status of various subsystems, accelerator pedal depth, tire pressure, and state of charge (SOC).

[0095] The vehicle controller can detect whether the drift function is faulty, and whether the suspension system and electronic power steering system meet the drift conditions. The drift conditions are: no drift function faults, extremely low suspension height, comfort suspension damping, and comfort style of the electronic power steering system.

[0096] The vehicle controller can determine the drift state and distribute and transfer the torque of the drift function based on dynamic parameters. It can also distribute and transfer the torque of the vehicle dynamic control system under different states based on the drift state and the activation state of the vehicle dynamic control system.

[0097] The vehicle controller can perform reference speed estimation, longitudinal slip control, and lateral stability control during drifting to reduce the impact of slip rate changes on drifting, thus making it easier to maintain the drift state.

[0098] The motor control unit can perform torque control based on the torque output of each wheel.

[0099] Vehicle dynamic control systems and traction control systems serve as safeguards against drifting loss of control and skidding during drifting, enhancing safety and driving experience.

[0100] Referring to FIG2, a flowchart of a vehicle drift control method according to some embodiments of the present disclosure is shown, the method may include the following steps 101 and 102.

[0101] Step 101: After the vehicle activates the drift function, a torque distribution action is performed; the torque distribution action includes: distributing base torque to the front axle and the rear axle, transferring torque between the front axle and the rear axle, and transferring torque between the left rear wheel and the right rear wheel.

[0102] The drift function is a feature provided by the vehicle to assist the user in drifting. The drift function can be activated when it is safe for the vehicle and its occupants. For example, it can be activated when the vehicle is on a road where drifting is permitted.

[0103] After activating the drift function, base torque can be distributed between the front and rear axles, ensuring that the required torque is primarily allocated to the rear axle, making it easier for the vehicle to initiate a drift. Torque transfer between the front and rear axles refers to transferring torque from the front axle to the rear axle, or vice versa. Once the vehicle begins drifting, this torque transfer between the front and rear axles helps maintain the drifting posture.

[0104] Torque transfer between the left and right wheels on the same axle refers to transferring torque from the left wheel to the right wheel, or vice versa. After the vehicle begins to drift, torque transfer between the left and right rear wheels can achieve a larger drift angle.

[0105] In some embodiments of this disclosure, the method may further include: determining the drift state of the vehicle. Then, torque distribution actions can be performed based on the drift state.

[0106] Drift states reflect different stages of a vehicle's drifting process. In one example, drift states can include stable driving state, drift initiation state, and drifting state. Stable driving state indicates that the vehicle is not drifting and is stable enough to drift; drift initiation state indicates that the vehicle has begun to drift; drifting state indicates that the vehicle has initiated a drift and continues to maintain the drift state.

[0107] Referring to Figure 3, the step of determining the drift state of the vehicle may include the following sub-steps 11 to 13.

[0108] Sub-step 11: When the first preset condition is met, the drift state is determined to be the drift state; the first preset condition is that the required torque is greater than the first torque threshold, the vehicle is in an oversteer state, and the rear wheels slip.

[0109] The required torque is the torque that is needed to cause the rear wheels to slip.

[0110] In one example, the first torque threshold can be determined through vehicle calibration.

[0111] In one example, an oversteering state can be determined in two ways:

[0112] On the one hand, the difference between the target yaw rate and the actual yaw rate is used to determine whether the vehicle is in an oversteering state. If the actual yaw rate is greater than the target yaw rate and the difference is greater than the first yaw rate threshold, the vehicle is considered to be in an oversteering state. The target yaw rate can be calculated by referring to the vehicle speed and the steering wheel angle.

[0113] On the other hand, the judgment is made by the absolute value of the yaw rate and its rate of change: when the absolute value of the yaw rate is greater than the second yaw rate threshold and the rate of change of the yaw rate is greater than the yaw rate change threshold, it is considered to be in an overturning state.

[0114] The first yaw rate threshold, the second yaw rate threshold, and the yaw rate change rate threshold can all be determined through actual vehicle calibration.

[0115] In one example, rear wheel slippage can be determined by the amount of slip. Slippage = wheel speed - vehicle speed. If the slippage exceeds a slippage threshold, rear wheel slippage is determined. The slippage threshold can be determined through real-vehicle calibration.

[0116] Sub-step 12: When the second preset condition is met, the drift state is determined to be a stable driving state; the second preset condition is that the required torque is less than the second torque threshold and the rear wheel does not slip; the first torque threshold is greater than the second torque threshold.

[0117] In one example, the second torque threshold can be determined through vehicle calibration. This second torque threshold can be used to determine if the user intends to release the accelerator to end the drift.

[0118] Sub-step 13: When the third preset condition is met and the second preset condition is not met, the drift state is determined to be a drifting state; the third preset condition is that the vehicle yaw tends to stabilize.

[0119] In one example, the yaw rate tends to stabilize by determining the rate of change of the yaw rate. If the rate of change of the yaw rate is 0, and continues to increase in the opposite direction of the current yaw rate (i.e., the yaw rate reaches its maximum and stops increasing, or even begins to decrease).

[0120] In some embodiments of this disclosure, the switching of drift states can be implemented using a state machine. Figure 4 is a logic diagram of a state machine operation according to some embodiments.

[0121] After the vehicle activates the drift function, the state machine first enters a stable driving state; if the first preset condition is met, the state machine switches from the stable driving state to the drift initiation state; in the drift initiation state, if the second preset condition is met, the state machine switches from the drift initiation state to the stable driving state; in the drift initiation state, if the third preset condition is met but the second preset condition is not met, the state machine switches from the drift initiation state to the drifting state; in the drifting state, if the second preset condition is met, the state machine switches from the drifting state to the drift initiation state.

[0122] Referring to FIG5, in some embodiments of this disclosure, step 101 may include the following sub-steps 21 and 22.

[0123] Sub-step 21: After the vehicle activates the drift function, obtain the required torque and the basic distribution ratio.

[0124] The required torque can be determined based on the current accelerator pedal depth of the vehicle. The base torque distribution ratio refers to the ratio of base torque distribution between the front and rear axles.

[0125] Sub-step 22: Determine the first front axle base torque and the first rear axle base torque based on the required torque and the base distribution ratio.

[0126] In one example, the ratio of the base torque of the rear axle to the required torque can be greater than the ratio of the base torque of the front axle to the required torque, so that the required torque is distributed as much as possible to the rear axle, making it easier for the vehicle to drift.

[0127] Referring to FIG6, in some embodiments of this disclosure, step 101 may further include the following sub-step 23.

[0128] Sub-step 23: After determining the first front axle base torque and the first rear axle base torque, if the first front axle base torque is greater than the front axle torque limit, then the second front axle base torque and the second rear axle base torque are re-determined according to the front axle torque limit and the base distribution ratio.

[0129] After allocating the base torque, to prevent slippage under high throttle conditions, the base torque needs to be redistributed when the torque exceeds the motor limit. In one example, the base torque redistribution can be done as follows: Redistributed front axle torque = Limiting torque * Front axle base ratio / (1 - Front axle base ratio). The front axle base ratio is the proportion of the front axle base torque to the required torque, obtained based on the base allocation ratio.

[0130] Referring to FIG7, in some embodiments of this disclosure, step 101 may further include the following sub-step 24.

[0131] Sub-step 24: When the drift state is in the drift state, torque transfer is performed on the front axle and the rear axle.

[0132] Front and rear axle torque transfer is primarily based on a fundamental distribution ratio. During drifting, if the vehicle is oversteer, torque transfer needs to be made to the front axle; conversely, if the vehicle is not oversteer and is too stable during steering, torque transfer needs to be made to the rear axle.

[0133] Referring to Figure 8, in one example, sub-step 24 may further include sub-steps 241 and 242.

[0134] Sub-step 241: When the drift state is in a drifting state, obtain the first dynamic parameter;

[0135] In one example, the first dynamic parameter may include at least two of the vehicle’s target sideslip angle, actual sideslip angle, yaw rate, and road adhesion coefficient.

[0136] The target sideslip angle refers to the ideal angle between the vehicle's tires and its longitudinal axis during vehicle handling, in order to achieve a specific driving trajectory or maneuver (such as drifting). In one example, the vehicle's target sideslip angle can be dynamically determined based on the current throttle opening.

[0137] The actual slip angle refers to the actual angle formed between the vehicle tire and the vehicle's longitudinal axis.

[0138] Yaw rate refers to the angular velocity of a vehicle as it rotates about its vertical axis (usually the Z-axis).

[0139] The coefficient of adhesion, also known as the road surface friction coefficient, is a parameter that measures the magnitude of the friction between the road surface and the tires. The coefficient of adhesion can be estimated from vehicle dynamics.

[0140] Sub-step 242: Based on the first dynamic parameters, torque transfer is performed on the front axle and the rear axle.

[0141] The amount of inter-axle transfer between the front and rear axles can be determined based on the first dynamic parameter.

[0142] Referring to Figure 9, in one example, sub-step 242 may include sub-steps 2421 to 2425.

[0143] Sub-step 2421: Determine the first transfer ratio based on the yaw rate and the road surface adhesion coefficient.

[0144] The first transfer ratio can be obtained by looking up a table based on the yaw rate and the road surface adhesion coefficient.

[0145] Sub-step 2422: Determine the second transfer ratio based on the actual sideslip angle and the road surface adhesion coefficient.

[0146] The second transfer ratio can be obtained by looking up a table based on the actual sideslip angle and road surface adhesion coefficient.

[0147] Sub-step 2423: Determine the gain coefficient based on the difference between the actual sideslip angle and the target sideslip angle.

[0148] The gain coefficient can be obtained by looking up a table based on the difference between the actual sideslip angle and the target sideslip angle.

[0149] Sub-step 2424: Obtain the inter-axis transfer ratio based on the first transfer ratio, the second transfer ratio, and the gain coefficient.

[0150] Sub-step 2425: Torque transfer is performed on the front axle and the rear axle according to the inter-axle transfer ratio.

[0151] In one example, the transfer amount can be determined based on the inter-axle transfer ratio, and torque transfer can be performed on the front and rear axles based on the transfer amount.

[0152] In one example, the ratio of the corrected front axle torque to the required torque = the ratio of the uncorrected front axle torque to the required torque + (first transfer ratio + second transfer ratio) * gain coefficient. Based on the ratio of the corrected front axle torque to the required torque, the ratio of the corrected rear axle torque to the required torque can be determined, thereby enabling torque transfer between the front and rear axles.

[0153] Referring to FIG10, in some embodiments of this disclosure, step 101 may further include the following sub-step 25.

[0154] Sub-step 25: When the drift state is in the starting drift state or in the drifting state, torque transfer is performed on the left rear wheel and the right rear wheel.

[0155] When transferring torque between the left and right rear wheels, the principle of more torque on the outer wheel and less torque on the inner wheel can be followed.

[0156] Referring to Figure 11, in one example, sub-step 25 may further include sub-steps 251 and 252.

[0157] Sub-step 251: When the drift state is in the starting drift state or in the drifting state, obtain the second dynamic parameter.

[0158] In one example, the second dynamic parameter may include at least one of the vehicle's lateral acceleration, steering wheel rotation rate, and reference vehicle speed.

[0159] Lateral acceleration refers to the acceleration that a vehicle experiences in the lateral direction (perpendicular to the direction of travel) due to centrifugal force when turning or performing lateral maneuvers.

[0160] Steering wheel rotation rate refers to the speed at which the driver turns the steering wheel when operating the vehicle.

[0161] Sub-step 252: Based on the second dynamic parameters, torque transfer is performed on the left and right rear wheels.

[0162] In one example, the third transfer ratio can be determined based on lateral acceleration; the fourth transfer ratio can be determined based on steering wheel angular rate; the reference vehicle speed can be obtained, and the speed correction coefficient can be determined based on the reference vehicle speed; the inter-wheel transfer ratio can be determined based on the third transfer ratio, the fourth transfer ratio, and the speed correction coefficient; and torque transfer can be performed on the left and right rear wheels based on the inter-wheel transfer ratio.

[0163] For example, the third transfer ratio can be obtained by looking up a table based on lateral acceleration; the fourth transfer ratio can be obtained by looking up a table based on steering wheel angular rate; and the vehicle speed correction coefficient can be obtained by looking up a table based on reference vehicle speed.

[0164] For example, the wheel-to-wheel transfer ratio = first transfer ratio based on lateral acceleration + second transfer ratio based on steering wheel angle rate * vehicle speed correction coefficient; the ratio of left rear wheel torque to rear axle torque = 0.5 - wheel-to-wheel transfer ratio; the ratio of right rear wheel torque to rear axle torque = 1 - left rear wheel torque to rear axle torque. Adjust the left and right rear wheel torques based on the ratios of left and right rear wheel torques to rear axle torque and the overall rear axle torque.

[0165] Step 102: Based on the target torque of each wheel, perform torque control on the motor corresponding to each wheel. The target torque is the torque value corresponding to each wheel determined after the torque distribution action is completed.

[0166] The vehicle drift control described in some embodiments of this disclosure is applicable to both three-motor and four-motor vehicles. Both three-motor and four-motor vehicles can independently control the torque of the left and right rear wheels. A three-motor vehicle uses three independent motors; the front axle can be controlled by one motor, and each of the two rear wheels is controlled by one motor. A four-motor vehicle uses four independent motors, with each of the four wheels controlled by one motor.

[0167] After performing the torque distribution action, the target torque for each wheel can be determined, and the motor corresponding to each wheel can be controlled according to the target torque.

[0168] In some embodiments of this disclosure, after the vehicle's drift function is activated, a base torque is distributed to the front and rear axles, ensuring that the required torque is distributed as much as possible to the rear axle, making it easier for the vehicle to initiate a drift. Torque transfer between the front and rear axles maintains the vehicle's drift posture. Torque transfer between the left and right rear wheels allows for a larger drift angle. Based on the torque of each wheel after the torque distribution action, the motors corresponding to each wheel are controlled for torque control. By distributing base torque to the front and rear axles, transferring torque between the front and rear axles, and transferring torque between the left and right rear wheels, the user's operating difficulty is reduced, allowing the user to more easily achieve better drift results.

[0169] Referring to FIG12, a flowchart of another vehicle drift control method according to some embodiments of the present disclosure is shown, the method may include the following steps 201 to 204.

[0170] Step 201: After the vehicle activates the drift function, determine the actual slip and target slip of each wheel.

[0171] In one example, after the vehicle's drift function is activated, the target slip amount of the front axle can be set to a low value to prevent the two wheels of the front axle from slipping.

[0172] In one example, after the vehicle's drift function is activated, the motor torque reduction function of the traction control system can be turned off to perform lateral stability control on the vehicle.

[0173] Referring to Figure 13, in one example, the step of determining the actual slip of each wheel may include the following sub-steps 31 and 32.

[0174] Sub-step 31: Determine the reference speed of the vehicle;

[0175] Referring to Figure 14, in one example, sub-step 31 may further include sub-steps 311 to 313.

[0176] Sub-step 311: Obtain the wheel speed of each wheel.

[0177] Sub-step 312: Determine the first front axle longitudinal speed based on the right front wheel speed, and determine the second front axle longitudinal speed based on the left front wheel speed.

[0178] For example, the first front axle longitudinal speed and the second front axle longitudinal speed can be determined using the following formula:

[0179] Among them, v f,fr v is the longitudinal speed of the first front axle; f,fl The longitudinal speed of the second front axle; v fr This refers to the speed of the right front wheel; v fl The speed of the left front wheel is δ. w,fr The steering angle of the right front wheel; δ w,fl The left front wheel steering angle is rad; ω is the yaw rate; b f This refers to the front axle track.

[0180] Sub-step 313: When the vehicle turns left, the first front axle longitudinal speed is used as the reference speed; when the vehicle turns right, the second front axle longitudinal speed is used as the reference speed.

[0181] Since the outer front wheel can always be set as the driven wheel, the drift reference speed should be calculated based on the longitudinal speed converted from the outer front wheel. Because the line connecting the vehicle's geometric center and the center point of the front axle coincides with the vehicle's longitudinal coordinate system, the longitudinal speed of the vehicle's geometric center is consistent with the longitudinal speed of the center point of the front axle.

[0182] If the yaw rate is >0 (i.e. when the vehicle is turning left), the first front axle longitudinal speed is used as the reference speed; if the yaw rate is ≤0 (i.e. when the vehicle is turning right), the second front axle longitudinal speed is used as the reference speed.

[0183] Sub-step 32: Determine the actual slippage of each wheel based on the reference vehicle speed.

[0184] Referring to Figure 15, in one example, sub-step 32 may further include sub-step 321.

[0185] Sub-step 321: Determine the actual slippage of each wheel based on the wheel speed of each wheel and the reference vehicle speed.

[0186] The longitudinal vehicle speed can be used as the reference speed, and the actual slip of each wheel can be obtained by subtracting the reference speed from the longitudinal wheel speed of each wheel.

[0187] For example, the actual slip of the left front wheel = MAX(left front wheel speed * COS(left front wheel steering angle) - reference speed, 0); the actual slip of the right front wheel = MAX(right front wheel speed * COS(right front wheel steering angle) - reference speed, 0); the actual slip of the left rear wheel = MAX(left rear wheel speed - reference speed, 0); the actual slip of the right rear wheel = MAX(right rear wheel speed - reference speed, 0).

[0188] Step 202: Determine the torque limit value of each wheel based on the actual slip and target slip of each wheel respectively;

[0189] To achieve better drifting effects, after activating the drift function, the actual and target slip amounts of each wheel of the vehicle can be dynamically determined. The target slip amount is the desired slip amount. Torque limits for each wheel can be determined separately based on the actual and target slip amounts, enabling independent control of the torque of each wheel.

[0190] The torque limit is the maximum torque that can be distributed to a wheel. The wheel torque affects the actual slip of the wheel; if the wheel torque increases, the actual slip of the wheel will increase. When distributing torque to each wheel, the wheel torque is allocated within the torque limit of each wheel so that each wheel can achieve the corresponding target slip.

[0191] Referring to FIG16, in some embodiments of this disclosure, step 202 may include the following sub-step 2021.

[0192] Sub-step 2021 involves performing proportional-integral-derivative (PID) control on each wheel based on the target slip and actual slip, in order to determine the torque limit for each wheel.

[0193] In one example, during the PID control of the left and right rear wheels based on the target slip and the actual slip, the PID parameters can be optimized.

[0194] For example, when the vehicle turns left (when the left rear wheel is the inner wheel and the right rear wheel is the outer wheel), the left rear wheel KP is assigned the inner wheel KP, the right rear wheel KP is assigned the outer wheel KP, the left rear wheel Ki is assigned the inner wheel Ki, and the right rear wheel Ki is assigned the outer wheel Ki.

[0195] When the vehicle turns right, the left rear wheel KP is assigned to the outer wheel KP, the right rear wheel KP is assigned to the inner wheel KP, the left rear wheel Ki is assigned to the outer wheel Ki, and the right rear wheel Ki is assigned to the inner wheel Ki.

[0196] The inner wheel KP, outer wheel KP, inner wheel Ki, and outer wheel Ki can be obtained by looking up a table based on the difference between the road surface adhesion coefficient and the slip amount.

[0197] Step 203, perform torque distribution action; the torque distribution action includes: distributing base torque to the front axle and rear axle, performing torque transfer to the front axle and rear axle, and performing torque transfer to the left rear wheel and right rear wheel;

[0198] After the torque distribution action is performed, the torque of each wheel is less than or equal to the corresponding torque limit. The implementation method of performing the torque distribution action can refer to the aforementioned embodiments, and will not be repeated here.

[0199] Step 204: Based on the target torque of each wheel, perform torque control on the motor corresponding to each wheel. The target torque is the torque value corresponding to each wheel determined after the torque distribution action is completed.

[0200] In some embodiments of this disclosure, after the vehicle's drift function is activated, a base torque is distributed to the front and rear axles, ensuring that the required torque is distributed as much as possible to the rear axle, making it easier for the vehicle to initiate a drift. Torque transfer between the front and rear axles maintains the vehicle's drift posture. Torque transfer between the left and right rear wheels allows for a larger drift angle. Based on the torque of each wheel after the torque distribution action, the motors corresponding to each wheel are controlled for torque control. By distributing base torque to the front and rear axles, transferring torque between the front and rear axles, and transferring torque between the left and right rear wheels, the user's operating difficulty is reduced, allowing the user to more easily achieve better drift results.

[0201] In some embodiments of this disclosure, the method may further include: determining the current drift gear; and, based on the current drift gear, setting the vehicle dynamic control system to a high threshold (a predetermined threshold) or disabling the vehicle dynamic control system.

[0202] The vehicle dynamic control system monitors parameters such as vehicle speed, steering angle, wheel speed, and yaw rate through sensors, and uses this data to control the vehicle's braking system and engine output to prevent the vehicle from skidding or losing control.

[0203] The high threshold refers to the critical point at which the vehicle dynamics control system begins to intervene or enhance control operations. This threshold is preset and used to determine whether the vehicle is in an unstable driving state. When the vehicle's dynamic parameters (such as yaw rate, slip ratio, etc.) exceed the high threshold, the vehicle dynamics control system will activate corresponding control strategies, such as applying braking to individual wheels or reducing engine torque, to help the vehicle regain stability.

[0204] Different drift gears require different torque control. Different drift gears can be set for different vehicles, and this disclosure does not limit this.

[0205] In one example, drift gears can include low, medium, and high gears. When the vehicle is in low or medium gear, the vehicle dynamic control system can be set to a high threshold. By setting the vehicle dynamic control system to a high threshold, the intervention of the vehicle dynamic control system can be reduced. When the high threshold is reached, the vehicle dynamic control system acts as a safeguard against drift loss of control and skidding during drifting, thereby improving safety and driving experience.

[0206] The vehicle dynamic control system can be turned off when the vehicle is in a high gear. However, this should only be enabled if the driver has sufficient drifting experience and a high level of driving skill.

[0207] In some embodiments of this disclosure, the step of performing torque distribution after the vehicle activates the drift function may include: performing torque distribution when the vehicle dynamic control system is in a closed state after the vehicle activates the drift function.

[0208] In some embodiments of this disclosure, when the vehicle dynamic control system is activated, torque transfer to the front and rear axles is stopped and locked to the current value; and torque is distributed to the left and right rear wheels according to a preset distribution ratio. In one example, the left and right rear wheels may be distributed according to a preset distribution ratio (50:50).

[0209] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that some embodiments of this disclosure are not limited to the described order of actions, because according to some embodiments of this disclosure, certain steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to some embodiments of this disclosure.

[0210] Figure 17 is a block diagram of a control device according to some embodiments. Referring to Figure 17, the control device 500 may include a vehicle controller 501 and a motor control unit 502.

[0211] The vehicle controller 501 and the motor control unit 502 are configured to perform the vehicle drift control method as described above.

[0212] The vehicle controller 501 is configured to perform a torque distribution action after the vehicle activates the drift function; the torque distribution action includes: distributing a base torque to the front axle and the rear axle, transferring torque between the front axle and the rear axle, and transferring torque between the left rear wheel and the right rear wheel;

[0213] The motor control unit 502 is configured to perform torque control on the motors corresponding to each wheel according to the target torque of each wheel, wherein the target torque is the torque value corresponding to each wheel determined after the torque distribution action is performed.

[0214] In a three-motor vehicle, each wheel on the front axle can be controlled by one motor, while the left and right rear wheels are each controlled independently by one motor. The motor control unit 502 may include motor control units corresponding to the three motors respectively.

[0215] In a four-motor vehicle, the four wheels are controlled independently by four motors, and the motor control unit 502 may include motor control units corresponding to the four motors respectively.

[0216] In one embodiment, the vehicle controller 501 is further configured to: after the vehicle activates the drift function, acquire the required torque and the basic distribution ratio; and determine the first front axle basic torque and the first rear axle basic torque based on the required torque and the basic distribution ratio.

[0217] In one embodiment, the vehicle controller 501 is further configured to: after determining the first front axle base torque and the first rear axle base torque, if the first front axle base torque is greater than the front axle torque limit, then redetermine the second front axle base torque and the second rear axle base torque according to the front axle torque limit and the base distribution ratio.

[0218] In one embodiment, the vehicle controller 501 is further configured to: determine the drift state of the vehicle; and, after the vehicle activates the drift function, when the drift state is in a drifting state, transfer torque to the front axle and the rear axle.

[0219] In one embodiment, the vehicle controller 501 is further configured to: acquire a first dynamic parameter when the drift state is in a drifting state; and perform torque transfer on the front axle and the rear axle according to the first dynamic parameter.

[0220] In one embodiment, the first dynamic parameter includes at least two of the following: the vehicle's target sideslip angle, actual sideslip angle, yaw rate, and road surface adhesion coefficient.

[0221] In one embodiment, the vehicle controller 501 is further configured to: determine a first transfer ratio based on the yaw rate and the road surface adhesion coefficient; determine a second transfer ratio based on the actual sideslip angle and the road surface adhesion coefficient; determine a gain coefficient based on the difference between the actual sideslip angle and the target sideslip angle; obtain an inter-axle transfer ratio based on the first transfer ratio, the second transfer ratio, and the gain coefficient; and perform torque transfer on the front axle and the rear axle based on the inter-axle transfer ratio.

[0222] In one embodiment, the vehicle controller 501 is further configured to transfer torque to the left and right rear wheels when the drift state is in the start of drift or in the middle of drift.

[0223] In one embodiment, the vehicle controller 501 is further configured to: acquire a second dynamic parameter when the drift state is in the start of drift or in the middle of drift; and transfer torque to the left rear wheel and the right rear wheel according to the second dynamic parameter.

[0224] In one embodiment, the second dynamic parameter includes at least one of the vehicle's lateral acceleration, steering wheel rotation rate, and reference vehicle speed.

[0225] In one embodiment, the vehicle controller 501 is further configured to: determine a third transfer ratio based on the lateral acceleration; determine a fourth transfer ratio based on the steering wheel angle rate; determine a vehicle speed correction coefficient based on the reference vehicle speed; determine an inter-wheel transfer ratio based on the third transfer ratio, the fourth transfer ratio, and the vehicle speed correction coefficient; and transfer torque to the left rear wheel and the right rear wheel based on the inter-wheel transfer ratio.

[0226] In one embodiment, the vehicle controller 501 is further configured to: after the vehicle activates the drift function, determine the actual slip amount and target slip amount of each wheel; determine the torque limit of each wheel based on the actual slip amount and target slip amount of each wheel respectively; and after performing the torque distribution action, the torque of each wheel is less than or equal to the corresponding torque limit.

[0227] In one embodiment, the vehicle controller 501 is further configured to perform PID control based on the target slip and actual slip of each wheel to determine the torque limit of each wheel.

[0228] In one embodiment, the vehicle controller 501 is further configured to: determine a reference vehicle speed; and determine the actual slippage of each wheel based on the reference vehicle speed.

[0229] In one embodiment, the vehicle controller 501 is further configured to: acquire the wheel speed of each wheel; determine a first front axle longitudinal speed based on the right front wheel speed, and determine a second front axle longitudinal speed based on the left front wheel speed; and determine the actual slip of each wheel based on the wheel speed of each wheel and the reference speed.

[0230] In one embodiment, the vehicle controller 501 is further configured to: determine the current drift gear; and, based on the current drift gear, set the vehicle dynamic control system to a high threshold or disable the vehicle dynamic control system.

[0231] In one embodiment, the vehicle controller 501 is further configured to: stop torque transfer to the front axle and the rear axle when the vehicle dynamic control system is in the active state; and distribute torque to the left rear wheel and the right rear wheel according to a preset distribution ratio.

[0232] In some embodiments of this disclosure, after the vehicle's drift function is activated, a base torque is distributed to the front and rear axles, ensuring that the required torque is distributed as much as possible to the rear axle, making it easier for the vehicle to initiate a drift. Torque transfer between the front and rear axles maintains the vehicle's drift posture. Torque transfer between the left and right rear wheels allows for a larger drift angle. Based on the torque of each wheel after the torque distribution action, the motors corresponding to each wheel are controlled for torque control. By distributing base torque to the front and rear axles, transferring torque between the front and rear axles, and transferring torque between the left and right rear wheels, the user's operating difficulty is reduced, allowing the user to more easily achieve better drift results.

[0233] As the device embodiment is basically similar to the method embodiment, the description is relatively simple, and relevant parts can be found in the description of the method embodiment.

[0234] Referring to FIG18, some embodiments of this disclosure also provide an electric drive system 600, which includes a first motor, a second motor, a third motor, and a control device 500 as described above. The first motor is configured to output torque to the left and right front wheels; the second motor is configured to output torque to the left wheel of the rear axle; and the third motor is configured to output torque to the right wheel of the rear axle.

[0235] Referring to Figure 19, some embodiments of this disclosure also provide a vehicle 700, which includes a vehicle controller and a motor control unit; the vehicle controller and the motor control unit are configured to execute the various processes of the above-described vehicle drift control method embodiments and can achieve the same technical effect, so they will not be described again here to avoid repetition.

[0236] Some embodiments of this disclosure also provide a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the various processes of the above-described vehicle drift control method embodiments and achieves the same technical effects. To avoid repetition, it will not be described again here.

[0237] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0238] Those skilled in the art will understand that embodiments of some of the embodiments of this disclosure can be provided as methods, apparatus, or computer program products. Therefore, some embodiments of this disclosure can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, some embodiments of this disclosure can take the form of computer program products embodied on one or more computer-usable storage media (including, but not limited to, disk storage, compact disc read-only memory (CD-ROM), optical storage, etc.) containing computer-usable program code.

[0239] Some embodiments of this disclosure are described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to some embodiments of this disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0240] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0241] These computer program instructions may also be loaded onto a computer or other programmable data processing terminal equipment to cause a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable terminal equipment, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0242] While preferred embodiments of some embodiments of this disclosure have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of some embodiments of this disclosure.

[0243] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0244] The foregoing has provided a detailed description of a vehicle drift control method, a control device, an electric drive system, a vehicle, and a computer-readable storage medium provided by this disclosure. Specific examples have been used to illustrate the principles and implementation methods of this disclosure. The descriptions of the above embodiments are only for the purpose of helping to understand the method and its core ideas. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this disclosure. Therefore, the content of this specification should not be construed as a limitation of this disclosure.

Claims

1. A vehicle drift control method, comprising: After the vehicle activates the drift function, a torque distribution action is performed; wherein, the torque distribution action includes: distributing base torque to the front axle and the rear axle, transferring torque between the front axle and the rear axle, and transferring torque between the left rear wheel and the right rear wheel; Based on the target torque of each wheel, torque control is performed on the motor corresponding to each wheel, wherein the target torque is the torque value corresponding to each wheel determined after the torque distribution action is performed.

2. The method according to claim 1, wherein, The torque distribution action performed after the vehicle activates the drift function includes: After the vehicle activates the drift function, the required torque and the basic distribution ratio are obtained; The base torque of the first front axle and the base torque of the first rear axle are determined based on the required torque and the base distribution ratio.

3. The method according to claim 2, wherein, The step of performing torque distribution after the vehicle activates the drift function also includes: After determining the first front axle base torque and the first rear axle base torque, if it is determined that the first front axle base torque is greater than the front axle torque limit, then the second front axle base torque and the second rear axle base torque are re-determined according to the front axle torque limit and the base distribution ratio.

4. The method according to any one of claims 1 to 3, further comprising: Determine the drift state of the vehicle; The step of performing torque distribution after the vehicle activates the drift function includes: When the vehicle activates the drift function and is in a drifting state, torque is transferred between the front axle and the rear axle.

5. The method according to claim 4, wherein, When the drift state is in the process of drifting, the torque transfer between the front axle and the rear axle includes: When the drift state is the drifting state, the first dynamic parameter is obtained; Based on the first dynamic parameter, torque transfer is performed on the front axle and the rear axle.

6. The method according to claim 5, wherein, The first dynamic parameter includes at least two of the following: the vehicle's target sideslip angle, actual sideslip angle, yaw rate, and road surface adhesion coefficient.

7. The method according to claim 6, wherein, The step of transferring torque between the front axle and the rear axle based on the first dynamic parameter includes: The first transfer ratio is determined based on the yaw rate and the road surface adhesion coefficient. The second transfer ratio is determined based on the actual sideslip angle and the road surface adhesion coefficient; The gain coefficient is determined based on the difference between the actual sideslip angle and the target sideslip angle. The inter-axis transfer ratio is obtained based on the first transfer ratio, the second transfer ratio, and the gain coefficient; Torque transfer is performed on the front axle and the rear axle according to the inter-axle transfer ratio.

8. The method according to any one of claims 4 to 7, wherein, The step of performing torque distribution after the vehicle activates the drift function also includes: When the drift state is in the initial drift state or the drifting state, torque is transferred to the left rear wheel and the right rear wheel.

9. The method according to claim 8, wherein, When the drift state is in the initial drift state or the drifting state, the torque transfer to the left rear wheel and the right rear wheel includes: When the drift state is the starting drift state or the drifting state, the second dynamic parameter is obtained; Based on the second dynamic parameter, torque transfer is performed on the left rear wheel and the right rear wheel.

10. The method according to claim 9, wherein, The second dynamic parameter includes at least one of the following: lateral acceleration of the vehicle, steering wheel rotation rate, and reference vehicle speed.

11. The method according to claim 10, wherein, The step of transferring torque between the left rear wheel and the right rear wheel according to the second dynamic parameter includes: The third transfer ratio is determined based on the lateral acceleration. The fourth transfer ratio is determined based on the steering wheel angle rate. Determine the vehicle speed correction factor based on the reference vehicle speed; The wheel-to-wheel transfer ratio is determined based on the third transfer ratio, the fourth transfer ratio, and the vehicle speed correction coefficient; According to the wheel transfer ratio, torque is transferred between the left rear wheel and the right rear wheel.

12. The method according to any one of claims 1 to 11, further comprising: After the vehicle activates the drift function, the actual slip and target slip of each wheel are determined. The torque limit of each wheel is determined based on the actual slip and the target slip of each wheel, respectively; wherein, after the torque distribution action is performed, the torque of each wheel is less than or equal to the corresponding torque limit.

13. The method according to claim 12, wherein, The step of determining the torque limit value of each wheel based on the actual slip amount and the target slip amount of each wheel includes: Proportional-integral-derivative (PID) control is performed on each wheel based on the target slip and the actual slip, respectively, to determine the torque limit of each wheel.

14. The method according to claim 12 or 13, wherein, Determining the actual slippage of each wheel includes: Determine the reference speed of the vehicle; The actual slippage of each wheel is determined based on the reference vehicle speed.

15. The method according to claim 14, wherein, Determining the reference speed of the vehicle includes: Obtain the wheel speed of each wheel; The first front axle longitudinal speed is determined based on the right front wheel speed, and the second front axle longitudinal speed is determined based on the left front wheel speed. When the vehicle turns left, the first front axle longitudinal speed is used as the reference speed; when the vehicle turns right, the second front axle longitudinal speed is used as the reference speed. Determining the actual slippage of each wheel based on the reference vehicle speed includes: The actual slippage of each wheel is determined based on the wheel speed of each wheel and the reference vehicle speed.

16. The method according to any one of claims 1 to 15, further comprising: Determine the current drift gear; Based on the current drift gear, the vehicle dynamic control system is set to a predetermined threshold, or the vehicle dynamic control system is turned off.

17. The method of claim 16, further comprising: When the vehicle dynamic control system is activated, torque transfer to the front and rear axles is stopped. In addition, torque is distributed to the left rear wheel and the right rear wheel according to a preset distribution ratio.

18. A control device, comprising: A vehicle controller and a motor control unit; the vehicle controller and the motor control unit are configured to perform the vehicle drift control method according to any one of claims 1-17.

19. An electric drive system, comprising: The first motor is configured to output torque to the left and right front wheels; The second motor is configured to output torque to the left wheel of the rear axle; The third motor is configured to output torque to the right wheel of the rear axle; as well as The control device according to claim 18.

20. A vehicle comprising: A vehicle controller and a motor control unit; the vehicle controller and the motor control unit are configured to perform the vehicle drift control method according to any one of claims 1-17.

21. A computer-readable storage medium, wherein, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the vehicle drift control method according to any one of claims 1-17.

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