CN115257404A - Vehicle torque distribution method and device, electronic equipment, storage medium and automobile - Google Patents
Vehicle torque distribution method and device, electronic equipment, storage medium and automobile Download PDFInfo
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- CN115257404A CN115257404A CN202210928261.4A CN202210928261A CN115257404A CN 115257404 A CN115257404 A CN 115257404A CN 202210928261 A CN202210928261 A CN 202210928261A CN 115257404 A CN115257404 A CN 115257404A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
- B60L15/38—Control or regulation of multiple-unit electrically-propelled vehicles with automatic control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/28—Four wheel or all wheel drive
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/40—Control modes
- B60L2260/44—Control modes by parameter estimation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
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- Y02T10/72—Electric energy management in electromobility
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Abstract
A vehicle torque distribution method, a device, an electronic device, a storage medium and an automobile are provided, and the method comprises the following steps: acquiring vehicle state parameters, and calculating a plurality of torque requirements of the automobile based on the vehicle state parameters; selecting one or more torque demands from a plurality of torque demands of the vehicle according to the driver behavior and the vehicle state parameters, and acquiring a total required torque of the automobile based on the selected one or more torque demands; respectively generating a front axle torque coordination command and a rear axle torque coordination command according to the behavior of a driver and the total required torque, wherein the front axle torque coordination command and the rear axle torque coordination command are respectively used for distributing front axle torque and rear axle torque; and monitoring the acquired front axle torque coordination command and the acquired rear axle torque coordination command, and respectively outputting the front axle torque coordination command and the rear axle torque coordination command to a front motor controller and a rear motor controller for execution according to the front motor request torque and the rear motor request torque so as to monitor and distribute the front axle torque distribution fault and the rear axle torque distribution fault, avoid the distribution fault and ensure the normal use of the vehicle.
Description
Technical Field
The invention belongs to the technical field of vehicle torque distribution, and more particularly, to a vehicle torque distribution method, a vehicle torque distribution apparatus, an automobile, an electronic device, and a computer-readable storage medium.
Background
With the rapid development of the electric automobile industry, the preservation quantity of electric automobiles is obviously increased. Compared with a fuel automobile, the electric automobile has obvious advantages, wherein the acceleration performance is the term. The driving modes of the electric automobile are two-wheel drive and four-wheel drive, and in the four-wheel drive vehicle, a front-rear axle double motor is a common driving mode. With the popularization of the standard of road vehicle functional safety (ISO 26262), the vehicle torque functional safety monitoring is increasingly paid attention, in particular, the distribution of the torque of the front axle and the rear axle related to the four-wheel drive vehicle is wrong, once the torque distribution is wrong, dangerous events can occur under some working conditions, and great influence is caused on the traveling safety of the vehicle and personnel in the vehicle.
Therefore, a method for monitoring vehicle torque is developed and designed, so that the method can monitor and control the distribution faults of the front axle torque and the rear axle torque, and the requirement for ensuring the normal use of the vehicle is still necessary and urgent under the condition of ensuring that the torque distribution is not faulted.
Disclosure of Invention
The invention provides a vehicle torque distribution method, a vehicle torque distribution device, electronic equipment, a storage medium and an automobile, and aims to solve the technical problem of monitoring the torque distribution errors of a front axle and a rear axle.
The purpose of the invention and the technical problem to be solved are realized by adopting the following technical scheme.
Optionally, a first aspect of the present invention provides a vehicle torque distribution method, including the steps of: acquiring vehicle running state parameters, and calculating a plurality of torque requirements of the automobile based on the vehicle running state parameters; selecting one or more torque demands from a plurality of torque demands of the vehicle according to the driver behavior and vehicle running state parameters, and acquiring a total required torque of the automobile based on the selected one or more torque demands; respectively generating a front axle torque coordination command and a rear axle torque coordination command according to the behavior of a driver and the total required torque, wherein the front axle torque coordination command and the rear axle torque coordination command are used for distributing front axle torque and rear axle torque; and monitoring the acquired front axle torque coordination command and the acquired rear axle torque coordination command, and respectively outputting the front axle torque coordination command and the rear axle torque coordination command to a front motor controller and a rear motor controller for execution according to the front motor request torque and the rear motor request torque.
Optionally, the monitoring of the obtained front axle torque coordination command and the rear axle torque coordination command includes that the front axle torque coordination command and the rear axle torque coordination command are respectively output to the front motor controller and the rear motor controller to be executed according to the front motor requested torque and the rear motor requested torque: acquiring a front axle torque coordination command, and outputting the acquired front axle torque coordination command to a front motor controller through a controller local area network output module according to the torque requested by a front motor to drive a front axle driving motor; and acquiring a rear axle torque coordination command, and outputting the acquired rear axle torque command to a rear motor controller through a controller local area network output module according to the rear motor request torque to execute the driving of a rear axle driving motor.
Optionally, the calculating a plurality of torque demands of the vehicle based on the vehicle operating state parameters comprises: calculating an accelerator pedal torque according to the accelerator pedal request torque; calculating creep torque according to the creep request torque; calculating a single pedal mode torque according to the single pedal request mode torque; and calculating a regenerative braking torque based on the regenerative braking request torque.
Optionally, the selecting one or more torque demands from a plurality of torque demands of the vehicle according to the driver behavior and the vehicle running state parameter, and obtaining the total required torque of the automobile based on the selected one or more torque demands comprises: and acquiring the total required torque of the automobile according to the current behavior of the driver and the current vehicle running state parameters and one or more selected from the accelerator pedal request torque, the crawling request torque, the single pedal request mode torque and the regenerative braking request torque.
Optionally, the respectively generating a front axle torque coordination command and a rear axle torque coordination command according to the driver behavior and the total required torque includes: summing the front motor torque and the rear motor torque according to the behavior of a driver, the front motor request torque and the rear motor request torque to obtain a first summation value; calculating the sum of the current front and rear motor request torques to obtain a second sum value; comparing the first summation value with the second summation value, carrying out torque degradation mode arbitration and/or safety state arbitration according to the comparison result, and carrying out front-rear axle torque transfer and generating distributed front axle torque and rear axle torque; a front axle torque coordination command and a rear axle torque coordination command are generated based on the distributed front axle torque and rear axle torque, respectively.
Optionally, the torque derating mode arbitration and/or the safety state arbitration comprises: establishing a torque degradation mode and a safe state; a torque derating mode and/or a safe state is defined based on the operation of the front and rear axle motors and the front and rear axle motor requests and controller area network communications.
Optionally, the defining the torque degradation mode and/or the safety state according to the operation of the front axle motor and the rear axle motor, the request of the front axle motor and the rear axle motor, and the communication of the controller area network includes: operating only a front axle motor and transferring torque distributed to a rear axle to a front axle as a first state; operating only the rear axle motor and transferring the torque distributed to the front axle to the rear axle as a second state; setting the torque requests of the front shaft motor and the rear shaft motor as zero as a third state; and turning off the controller area network communication as a fourth state.
Optionally, summing the front and rear motor torques according to the driver behavior, the front motor requested torque and the rear motor requested torque to obtain a first summation value; calculating the sum of the current front and rear motor request torques to obtain a second sum value; comparing the first summation value with the second summation value, performing torque derating mode arbitration and/or safety state arbitration according to the comparison result, and front-rear axle torque transfer and generating distributed front axle torque and rear axle torque comprises: determining that the torque distribution value is faulty if the first summation value is greater than zero and the first summation value minus the second summation value is greater than a first predetermined value; determining that a torque distribution value is faulty if the first summation value is less than zero and the first summation value minus the second summation value is less than a second predetermined value; if the signs of the first summation value and the second summation value are opposite and the first summation value is out of a third preset value range, judging that the torque distribution reverse fault exists; and if the signs of the first summation value and the second summation value are opposite and the first summation value is within a third preset value range, judging that the torque distribution is reversely failed.
Optionally, the triggering of the torque derating mode and/or the safety state comprises: if the torque distribution value is failed and the front motor mode is normal, triggering a first state; if the torque distribution value is in fault, the front motor mode is in fault and the rear motor mode is normal, triggering a second state; triggering a third state if the torque distribution value fails, the front motor mode fails and the rear motor mode fails; triggering a third state if the torque distribution value fails, the torque distribution reversal fails, the front motor mode fails, and the rear motor mode fails; otherwise, triggering a fourth state; wherein only the front axle motor is operated and the torque distributed to the rear axle is transferred to the front axle as a first state; operating only the rear axle motor and transferring the torque distributed to the front axle to the rear axle as a second state; setting the torque requests of the front and rear axle motors as zero as a third state; and turning off the controller area network communication as a fourth state.
Optionally, the front and rear axle torque transfer comprises: transmitting the front motor request torque and the rear motor request torque after the torque downgrade mode arbitration and/or the safety state arbitration to front and rear torque transfer; and the distributed front motor request torque and rear motor request torque are transmitted to the controller for end-to-end local area network output protection by front and rear torque transfer, and the front motor request torque and the rear motor request torque are respectively output to the front motor controller and the rear motor controller by the end-to-end local area network output protection of the controller.
A second aspect of the present invention provides a vehicle torque distribution device, characterized by comprising: a controller (VCU); the controller (VCU) includes a functional module for calculating torque and a monitoring output module; the monitoring module is used for monitoring the calculation result of the torque and outputting and executing the calculation result; the functional module includes: the torque demand module is used for acquiring vehicle running state parameters and calculating a plurality of torque demands of the automobile based on the vehicle running state parameters; the torque coordination module is used for selecting one or more torque demands from a plurality of torque demands of the vehicle according to the driver behavior and the vehicle running state parameters, and acquiring the total required torque of the automobile based on the selected one or more torque demands; the torque distribution module is used for respectively generating a front axle torque coordination command and a rear axle torque coordination command according to the behavior of a driver and the total required torque, and the front axle torque coordination command and the rear axle torque coordination command are used for distributing front axle torque and rear axle torque; the monitoring module includes: and the controller area network output module is used for monitoring the acquired front axle torque coordination command and the acquired rear axle torque coordination command, and respectively outputting the front axle torque coordination command and the rear axle torque coordination command to the front motor controller and the rear motor controller for execution according to the front motor request torque and the rear motor request torque.
Optionally, the apparatus further comprises: the power battery is used for driving the front shaft driving motor and the rear shaft driving motor to respectively provide electric energy for the front shaft and the rear shaft; a driving motor for driving the vehicle; and a retarder for adjusting the driving speed acquired by the vehicle.
Optionally, the controller area network output module includes: the front axle controller local area network output module is used for acquiring a front axle torque coordination command and outputting the acquired front axle torque coordination command to the front motor controller according to the torque requested by the front motor to drive the front axle driving motor; and the rear axle controller local area network output module is used for acquiring a rear axle torque coordination command and outputting the acquired rear axle torque coordination command to the rear motor controller according to the rear motor request torque to drive the rear axle driving motor.
A third aspect of the invention provides a motor vehicle comprising a device for distributing the torque of a vehicle as described above.
A fourth aspect of the present invention provides an electronic device, including: a memory for storing non-transitory computer readable instructions; and a processor for executing the computer readable instructions such that the computer readable instructions, when executed by the processor, implement the vehicle torque distribution method described above.
A fifth aspect of the present invention provides a computer readable storage medium comprising computer instructions which, when run on a device, implement the vehicle torque distribution method described above.
Compared with the prior art, the invention has obvious advantages and beneficial effects. By means of the technical scheme, the invention at least has one of the following advantages and beneficial effects:
1. the vehicle torque distribution method provided by the invention comprises the steps of obtaining vehicle running state parameters and calculating a plurality of torque requirements of an automobile based on the vehicle running state parameters; selecting one or more torque demands from a plurality of torque demands of the vehicle according to the driver behavior and the vehicle running state parameters, and acquiring a total required torque of the automobile based on the selected one or more torque demands; respectively generating a front axle torque coordination command and a rear axle torque coordination command according to the behavior of a driver and the total required torque, wherein the front axle torque coordination command and the rear axle torque coordination command are used for distributing front axle torque and rear axle torque; and monitoring the acquired front axle torque coordination command and the acquired rear axle torque coordination command, and respectively outputting the front axle torque coordination command and the rear axle torque coordination command to a front motor controller and a rear motor controller for execution according to the front motor request torque and the rear motor request torque. The invention monitors the total torque amplitude and direction of the distributed torque and the single-shaft torque direction by four-wheel drive torque distribution monitoring, thereby realizing the monitoring of faults in the torque distribution of the front shaft and the rear shaft before the torque distribution of the front shaft and the rear shaft.
2. According to the method for distributing the vehicle torque, after the front and rear torque requests and the front and rear torque distribution enter the degradation mode arbitration and/or the safety state arbitration, the front and rear torque distribution is subjected to torque transfer control according to the current actual condition of the vehicle, so that the vehicle torque distribution fault is avoided, and meanwhile, the good usability of the vehicle is ensured.
3. The present invention provides a vehicle torque distribution apparatus, including: a controller (VCU); the controller (VCU) includes a functional module for calculating torque and a monitoring output module; the monitoring module is used for monitoring the calculation result of the torque and outputting and executing the calculation result; the functional module includes: the torque demand module is used for acquiring vehicle running state parameters and calculating a plurality of torque demands of the automobile based on the vehicle running state parameters; the torque coordination module is used for selecting one or more torque demands from a plurality of torque demands of the vehicle according to the driver behavior and the vehicle running state parameters, and acquiring the total required torque of the automobile based on the selected one or more torque demands; the torque distribution module is used for respectively generating a front axle torque coordination command and a rear axle torque coordination command according to the behavior of a driver and the total required torque, and the front axle torque coordination command and the rear axle torque coordination command are used for distributing front axle torque and rear axle torque; the monitoring module includes: and the controller local area network output module is used for monitoring the acquired front axle torque coordination command and the acquired rear axle torque coordination command, and respectively outputting the front axle torque coordination command and the rear axle torque coordination command to the front motor controller shaft driving motor and the rear motor controller shaft driving motor for execution according to the front motor request torque and the rear motor request torque. The invention adopts a torque amplitude error flag bit and a torque reverse error flag bit to make the distribution error enter the degradation mode arbitration and/or the safety state arbitration in the torque distribution process, and carries out multi-level protection on the torque distribution by front and back torque transfer and end-to-end local area network output protection of a controller after the degradation mode arbitration and/or the safety state arbitration.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the following preferred embodiments are described in detail with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic flow chart of a vehicle torque distribution method according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of a torque control flow diagram for an electric four-wheel drive in accordance with an embodiment of the present invention;
FIG. 3 is a schematic view of a monitoring module configuration of a four-wheel drive torque distribution controller (VCU) according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart of the torque comparison distribution performed by the four-wheel drive torque distribution monitoring module according to the embodiment of the invention;
FIG. 5 is a schematic structural diagram of a powertrain according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a portion of a controller (VCU) according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
[ description of main element symbols ]
1: the power battery 2: high-voltage cable
3: controller area network cable 4: front speed reducer
5: front axle drive motor 6: front motor controller
7: the rear speed reducer 8: rear axle driving motor
9: rear motor controller 10: controller (VCU)
Detailed Description
To further explain the technical means and effects of the present invention adopted to achieve the predetermined objects, the following detailed description of the embodiments, structures, features and effects thereof according to the present invention will be made with reference to the accompanying drawings and preferred embodiments.
The embodiment of the invention provides a vehicle torque distribution method, a vehicle torque distribution device, electronic equipment, a storage medium and an automobile, aiming at the problem of torque distribution of a dual-motor four-wheel drive electric automobile in the prior art.
As shown in FIG. 1, an embodiment of the present invention provides a vehicle torque distribution method, comprising the steps of: vehicle operating state parameters are obtained, and a plurality of torque requirements of the automobile are calculated based on the vehicle operating state parameters. It should be noted that the vehicle operation state parameters include, but are not limited to, an accelerator pedal torque, a creep torque, a single pedal mode torque, and a regenerative braking torque, and the vehicle operation state parameters may be one or more of the above-mentioned accelerator pedal torque, creep torque, single pedal mode torque, and regenerative braking torque. One or more torque requests are selected from a plurality of torque requests of the vehicle according to the driver behavior and the vehicle operating state parameters, and a total required torque of the vehicle is obtained based on the selected one or more torque requests. The driver behavior includes a driving behavior of the driver in a specific traffic scene, which is clear by the law and regulations of road traffic, and also includes a driver habit behavior. The driver selects one or more torque requirements according to the habitual behaviors of driving and the current requirements of the vehicle on the torque of an accelerator pedal, the creep torque, the torque in a single pedal mode and the torque of regenerative braking. Respectively generating a front axle torque coordination command and a rear axle torque coordination command according to the behavior of a driver and the total required torque, wherein the front axle torque coordination command and the rear axle torque coordination command are used for distributing front axle torque and rear axle torque;
it should be noted that the driver behavior includes, for example, a driver behavior habit or a current driver behavior. The total required torque may be calculated from the front motor requested torque and the rear motor requested torque, or may be calculated from the current front and rear motor requested torques, for example, from the front motor requested torque, the rear motor requested torque, and the current front and rear motor requested torques in the driver's history. And simultaneously generating a front axle torque coordination command and a rear axle torque coordination command through the torque transfer of the front axle and the rear axle.
In the embodiment of the invention, the obtained front axle torque coordination command and the rear axle torque coordination command are monitored, and the front axle torque coordination command and the rear axle torque coordination command are respectively output to the front motor controller 6 and the rear motor controller 9 for execution according to the front motor request torque and the rear motor request torque. The front axle torque coordination command and the rear axle torque coordination command are executed by the front motor controller 6 and the rear motor controller 9, which are independent of the front axle and the rear axle, respectively.
The embodiment of the invention calculates a plurality of torque requirements of an automobile by acquiring the running state parameters of the automobile and based on the running state parameters of the automobile; selecting one or more torque demands from a plurality of torque demands of the vehicle according to the driver behavior and vehicle running state parameters, and acquiring a total required torque of the automobile based on the selected one or more torque demands; respectively generating a front axle torque coordination command and a rear axle torque coordination command according to the behavior of a driver and the total required torque, wherein the front axle torque coordination command and the rear axle torque coordination command are used for distributing front axle torque and rear axle torque; the obtained front axle torque coordination command and the obtained rear axle torque coordination command are monitored, and the front axle torque coordination command and the rear axle torque coordination command are respectively output to the front motor controller 6 and the rear motor controller 9 to be executed according to the front motor request torque and the rear motor request torque, so that the torque distribution of the dual-motor four-wheel drive electric automobile is monitored, and the normal use of the automobile can be guaranteed under the condition that the torque distribution does not fail.
In the embodiment of the present application, as shown in fig. 1, 2 and 3, outputting the monitored and obtained front axle torque coordination command and rear axle torque coordination command to the front motor controller 6 and the rear motor controller 9 respectively according to the front motor request torque and the rear motor request torque to execute the steps including: acquiring a front axle torque coordination command, and outputting the acquired front axle torque coordination command to a front motor controller 6 through a controller local area network output module according to the torque requested by a front motor to drive a front axle driving motor 5; and acquiring a rear axle torque coordination command, and outputting the acquired rear axle torque command to a rear motor controller 9 through a controller local area network output module according to the rear motor request torque to execute the driving of a rear axle driving motor 8.
It should be noted that the front axle torque coordination command and the rear axle torque coordination command are respectively driven by the front axle driving motor and the rear axle driving motor to execute the driving of the driving motors on the corresponding axles, so that the independence of the operation of the torque coordination command is ensured, and the stability of the front axle driving motor 5 and the rear axle driving motor 8 in the driving process is further realized.
In an embodiment of the present application, as shown in fig. 1, 2 and 3, optionally, the calculating a plurality of torque demands of the automobile based on the vehicle operating state parameters includes: calculating an L1 accelerator pedal torque from the accelerator pedal request torque; calculating L1 creep torque according to the creep request torque; calculating an L1 single pedal mode torque according to the single pedal request mode torque; and calculating the L1 regenerative braking torque based on the regenerative braking request torque.
The accelerator pedal torque, creep torque, single pedal mode torque, and regenerative braking torque are independent of each other and do not affect each other. Therefore, when each torque is calculated, the L1 accelerator pedal torque, the L1 creep torque, the L1 single pedal mode torque, and the L1 regenerative braking torque are torque values of each module under a system request, and independence of the torque values is ensured.
In an embodiment of the present application, as shown in fig. 1, 2 and 3, optionally, the selecting one or more torque requests from a plurality of torque requests of the vehicle according to the driver behavior and the vehicle running state parameters, and obtaining the total required torque of the automobile based on the selected one or more torque requests comprises: and acquiring the total required torque of the automobile according to the current behavior of the driver and the current vehicle running state parameters and one or more selected from the accelerator pedal request torque, the crawling request torque, the single pedal request mode torque and the regenerative braking request torque. Specifically, for example, the total required torque of the automobile may be obtained based on the current overtaking behavior of the driver and the accelerator pedal requested torque selected by the current vehicle. The total required torque of the vehicle may also be obtained from the current downhill deceleration behavior of the driver and the current vehicle selected single pedal request mode torque or regenerative braking request torque. And simultaneously, one or more torque requirements can be selected from the multiple torque requirements of the vehicle according to the behavior habit of the driver and the current vehicle running state parameter, and the total required torque of the automobile can be obtained.
In an embodiment of the present application, as shown in fig. 1, 2 and 3, optionally, the generating the front axle torque coordination command and the rear axle torque coordination command according to the driver behavior and the total required torque respectively includes: summing the front motor torque and the rear motor torque according to the behavior of a driver, the front motor request torque and the rear motor request torque to obtain a first summation value; calculating the sum of the current front and rear motor request torques to obtain a second sum value; comparing the first summation value with the second summation value, carrying out torque degradation mode arbitration and/or safety state arbitration according to the comparison result, and carrying out front-rear axle torque transfer and generating distributed front axle torque and rear axle torque; a front axle torque coordination command and a rear axle torque coordination command are generated based on the distributed front axle torque and rear axle torque, respectively.
It should be noted that when summing the front and rear motor torques according to the driver's behavior, the front motor requested torque and the rear motor requested torque, the front and rear motor requested torques may include at least one torque selected from the accelerator pedal requested torque, the creep requested torque, the single pedal requested mode torque and the regenerative braking requested torque, and the first summed value obtained may be a torque value in a belt direction, a value thereof may be a negative value in a prescribed direction, and a second summed value similarly obtained may be a negative value. Wherein the first summation value and the second summation value are L1 system requested torque sums, respectively, comparing the first summation value minus the second summation value.
In an embodiment of the present application, as shown in fig. 1, 2 and 3, optionally, the torque derating mode arbitration and/or the safety state arbitration comprises: establishing a torque derating mode and/or a safe state; a torque derating mode and/or a safe state is defined based on the operation of the front and rear axle motors and the front and rear axle motor requests and controller area network communications.
It should be noted that the torque downgrade mode is defined according to the three parameters of the working states of the front and rear axle motors, the torques requested by the front and rear axle motors, and the communication state of the controller area network, and the vehicle torque is in the downgrade mode, or in the safe state, or in both the downgrade mode and the safe state.
In an embodiment of the present application, optionally, the defining the torque degradation mode and/or the safety state according to the operation of the front axle motor and the rear axle motor and the request of the front axle motor and the rear axle motor and the communication of the controller area network includes: operating only a front axle motor and transferring torque distributed to a rear axle to a front axle as a first state; operating only the rear axle motor and transferring the torque distributed to the front axle to the rear axle as a second state; setting the torque requests of the front and rear axle motors as zero as a third state; and turning off the controller area network communication as a fourth state. Specifically, as shown in table 1.
TABLE 1 degraded mode/safe State definition
The degraded mode is a mode in which DM1, DM2, SS1, and SS2 are sequentially arranged and sequentially processed. The safe state refers to the state of the front axle motor and the rear axle motor in the degradation mode, the working state of the front axle motor and the rear axle motor, the torque request of the front axle motor and the rear axle motor and the controller area network communication in the degradation mode.
In an embodiment of the present application, optionally, the summing of the front and rear motor torques according to the driver behavior, the front motor requested torque and the rear motor requested torque to obtain a first summed value; calculating the sum of the current front and rear motor request torques to obtain a second sum value; comparing the first summation value with the second summation value, performing torque derate mode arbitration and/or safety state arbitration based on the comparison, and front and rear axle torque transfers and generating distributed front and rear axle torques comprises: determining that the torque distribution value is faulty if the first summation value is greater than zero and the first summation value minus the second summation value is greater than a first predetermined value; determining that the torque distribution value is faulty if the first summation value is less than zero and the first summation value minus the second summation value is less than a second predetermined value; if the signs of the first summation value and the second summation value are opposite and the first summation value is out of a third preset value range, judging that the torque distribution reverse fault exists; and if the signs of the first summation value and the second summation value are opposite and the first summation value is within a third preset value range, judging that the torque distribution is reversely failed.
Specifically, as shown in fig. 3, the front and rear motor torque module summing module sums the front motor requested torque and the rear motor requested torque to obtain a first summed value, the four-wheel drive torque distribution monitoring module compares the L1 system requested torque calculated by the torque coordination module with the current L2 front and rear motor requested torques, and the comparison steps are shown in fig. 4 and are as follows. When (L1 system requested torque >0 Nm) and (sum of motor requested torques before and after L1 system requested torque-L2) >50Nm (which may be calibrated, specifically, based on factors such as vehicle service quality, an acceleration value that may be generated by the value), and continues for 40ms, it may be determined that the four-wheel drive torque distribution is too large, and it is recorded as torque distribution overerror flag =1. When (L1 system requested torque <0 Nm) and (sum of motor requested torques before and after L1 system requested torque-L2) x < -50Nm (which may be calibrated, in particular, based on factors such as vehicle service quality, the value of acceleration that may be produced), and lasts for 40ms, it may be determined that the four-wheel drive torque distribution is too large, and it is recorded as torque distribution over error flag =1. When the sign of the L1 system requested torque and the motor requested torque before and after L2 are opposite and (| L1 system requested torque | >10 Nm), it may be determined that the total requested torque allocation reverse fault is written as totalttorquerdistributiondirectorerror flag =1 when the sign of the L1 system requested torque and the motor requested torque before L2 are opposite and (| L1 system requested torque | >10 Nm), it may be determined that the front and rear torque allocation reverse fault is written as fronttordistributordiredistributionerror flag =1, and when the sign of the L1 system requested torque and the motor requested torque after L2 are opposite and (| L1 system requested torque | >10 Nm), it may be determined that the front and rear torque allocation reverse fault is written as rerotrequestdistributionerror flag =1.
In the embodiment of the present application, as shown in fig. 1 to 4 and table 1, optionally, the triggering of the torque degradation mode and/or the safety state includes: if the torque distribution value is failed and the front motor mode is normal, triggering a first state DM1; if the torque distribution value is in fault, the front motor mode is in fault and the rear motor mode is normal, triggering a second state DM2; triggering a third state SS1 if the torque distribution value fails, the front motor mode fails and the rear motor mode fails; triggering a third state SS1 if the torque distribution value fails, the torque distribution reverse fails, the front motor mode fails and the rear motor mode fails; otherwise, the fourth state SS2 is triggered (see table 1). Wherein only the front axle motor is operated and the torque allocated to the rear axle is transferred to the front axle as a first state; operating only the rear axle motor and transferring the torque distributed to the front axle to the rear axle as a second state; setting the torque requests of the front shaft motor and the rear shaft motor as zero as a third state; and turning off the controller area network communication as a fourth state. Specifically, the following is shown:
when (torquedistributionagnituderrorflag = = 1) &
(TotalTorqueDistributionDirectionErrorFlag＝＝0)&&
(FrontTorqueDistributionDirectionErrorFlag＝＝0)&&
(RearTorque distribution directive ErrorFlag = = 0) & & front motor mode is normal, trigger DM1;
when (Torque DistributionManituderErrorFlag = = 1) &
(TotalTorqueDistributionDirectionErrorFlag＝＝0)&&
(FrontTorqueDistributionDirectionErrorFlag＝＝0)&&
(RearTorque distribution Direction ErrorFlag = = 0) & & before motor mode is abnormal & & after motor mode is normal, trigger DM2;
when (torquedistributionagnituderrorflag = = 1) &
(TotalTorqueDistributionDirectionErrorFlag＝＝0)&&
(FrontTorqueDistributionDirectionErrorFlag＝＝0)&&
(RearTorque distribution DirectionErrorFlag = = 0) & & front motor mode not normal & & rear motor mode not normal, trigger SS1;
when (Torque DistributionManituderErrorFlag = = 1) &
(TotalTorqueDistributionDirectionErrorFlag＝＝1)||
(FrontTorqueDistributionDirectionErrorFlag＝＝1)||
(readtorquedistributiondirectionerrorflag = = 1) |, trigger SS1;
when the execution of SS1 fails, SS2 is triggered.
In an embodiment of the present application, as shown in fig. 1 to 4 and table 1, optionally, the front and rear axle torque transfer includes: transmitting the front motor request torque and the rear motor request torque after the torque downgrade mode arbitration and/or the safety state arbitration to front and rear torque transfer; the distributed front motor request torque and the distributed rear motor request torque are transmitted to the controller for end-to-end local area network output protection by front and rear torque transfer, and the front motor request torque and the rear motor request torque are respectively output to a front shaft driving processing module and a rear shaft driving processing module by the controller for end-to-end local area network output protection. Specifically, the L1 system requested torque calculated by the torque coordination module is compared with the current L2 front and rear motor requested torques by the four-wheel drive torque distribution monitoring module, as shown in fig. 3 and 4, the output of the four-wheel drive torque distribution monitoring module is arbitrated by a degraded mode arbitration/safety state arbitration module in the form of two characteristic flag bits, namely a torque amplitude error flag bit and a torque reverse error flag bit, the L2.1 front motor requested torque and the L2.1 rear motor requested torque are output by the degraded mode arbitration/safety state arbitration, the L2.1 front motor requested torque and the L2.1 rear motor requested torque are input into the front and rear torque transfer modules, the front and rear torque transfer modules determine whether to transfer the distributed front axle motor torque and rear axle motor torque according to the L2.2 front motor requested torque and the L2.2 rear motor requested torque, and the controller end-to-end local area network output protection receives the output of the front and rear torque transfer modules, and outputs the L2.3 front motor requested torque and the L2.3 rear motor requested torque to the front and rear motor controller 6 and rear motor controller 9 respectively.
A second aspect of the present invention provides a device for vehicle torque distribution, as shown in fig. 3, 5 and 6, comprising: a controller (VCU) 10; the controller (VCU) 10 includes a function module and a monitoring output module; the functional module is used for calculating torque; the monitoring module is used for monitoring the calculation result of the torque and outputting and executing the calculation result; the functional module includes: the torque demand module is used for acquiring vehicle running state parameters and calculating a plurality of torque demands of the automobile based on the vehicle running state parameters; the torque coordination module is used for selecting one or more torque demands from a plurality of torque demands of the vehicle according to the driver behavior and the vehicle running state parameters, and acquiring the total required torque of the automobile based on the selected one or more torque demands; the torque distribution module is used for respectively generating a front axle torque coordination command and a rear axle torque coordination command according to the behavior of a driver and the total required torque, and the front axle torque coordination command and the rear axle torque coordination command are used for distributing front axle torque and rear axle torque; the monitoring module includes: and the controller area network output module is used for monitoring the acquired front axle torque coordination command and the acquired rear axle torque coordination command, and respectively outputting the front axle torque coordination command and the rear axle torque coordination command to the front motor controller 6 and the rear motor controller 9 for execution according to the front motor request torque and the rear motor request torque. The monitoring layer of the controller (VCU) 10 includes a front motor torque summing module, a rear motor torque summing module, a four-wheel drive torque distribution module, a degraded mode arbitration/security state arbitration, a front torque transfer module, a rear torque transfer module, and a controller end-to-end local area network output protection, and the modules refer to the contents of the method description and are not described herein again.
In the embodiment of the present application, as shown in fig. 5, optionally, the apparatus further includes: the power battery 1 is used for driving the front shaft driving motor 5 and the rear shaft driving motor 8 to respectively provide electric energy for the front shaft and the rear shaft; a drive motor for driving the vehicle, including a front axle drive motor 5 driving a front axle and a rear axle drive motor 8 driving a rear axle; and a retarder for adjusting the driving speed acquired by the vehicle. Specifically, a controller (VCU) 10 is respectively connected to a front motor controller 6 and a rear motor controller 9 through a controller area network cable 3, the front motor controller 6 is respectively electrically connected to a high-voltage cable 2 and a front axle driving motor 5, a front speed reducer 4 is disposed between the front axle driving motor 5 and a front axle of the vehicle, and a front right speed reducer (not shown) is disposed on the front axle of the vehicle. The rear motor controller 9 is respectively electrically connected with the high-voltage cable 2 and the rear shaft driving motor 8, and a rear speed reducer 7 is arranged between the rear shaft driving motor 8 and a rear shaft of the vehicle. The power battery 1 provides driving energy for the vehicle, the driving motor is used for converting electric energy into mechanical energy to drive the vehicle, and a Vehicle Control Unit (VCU) 10 calculates the torque required by a vehicle power system according to state information such as an accelerator pedal request, vehicle speed and the like by a driver and distributes front axle torque and rear axle torque. The torque distribution method for the front and rear axles is referred to above, and is not described herein.
In an embodiment of the present application, as shown in fig. 6, the controller area network output module includes: the front axle controller local area network output module is used for acquiring a front axle torque coordination command and outputting the acquired front axle torque coordination command to the front motor controller 6 according to the torque requested by the front motor to drive the front axle driving motor 5; and the rear axle controller local area network output module is used for acquiring a rear axle torque coordination command and outputting the acquired rear axle torque coordination command to the rear motor controller 9 according to the rear motor request torque to drive the rear axle driving motor 8. It should be noted that the front axle controller local area network output module and the rear axle controller local area network output module respectively correspond to corresponding description contents of the torque distribution method portion, and are not described herein again.
A third aspect of the present invention provides an automobile, which is characterized by comprising the above-mentioned vehicle torque distribution device, as shown in fig. 5, the vehicle torque distribution device of the automobile refers to the corresponding description of the vehicle torque distribution device, and is not repeated herein.
A fourth aspect of the present invention provides an electronic apparatus, as shown in fig. 7, comprising: a memory for storing non-transitory computer readable instructions; and a processor for executing the computer readable instructions such that the computer readable instructions, when executed by the processor, implement the vehicle torque distribution method described above.
A fifth aspect of the invention provides a computer readable storage medium comprising computer instructions which, when run on a device, implement the vehicle torque distribution method described above.
It is noted that throughout the description of the present specification, references to particular features, structures, materials, or characteristics described in connection with the embodiment or example are intended to be included in at least one embodiment or example of the present application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Any process or method descriptions otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps in the process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
The logic and/or steps otherwise described herein, e.g., as a sequential list of executable instructions that may be thought of as implementing logical functions, may be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried out in the method of implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a computer-readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are exemplary and should not be construed as limiting the present application and that changes, modifications, substitutions and alterations in the above embodiments may be made by those of ordinary skill in the art within the scope of the present application.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (16)
1. A vehicle torque distribution method, characterized by comprising the steps of:
acquiring vehicle running state parameters, and calculating a plurality of torque requirements of the automobile based on the vehicle running state parameters;
selecting one or more torque demands from a plurality of torque demands of the vehicle according to the driver behavior and vehicle running state parameters, and acquiring a total required torque of the automobile based on the selected one or more torque demands;
respectively generating a front axle torque coordination command and a rear axle torque coordination command according to the behavior of a driver and the total required torque, wherein the front axle torque coordination command and the rear axle torque coordination command are used for distributing front axle torque and rear axle torque;
and monitoring the acquired front axle torque coordination command and the acquired rear axle torque coordination command, and respectively outputting the front axle torque coordination command and the rear axle torque coordination command to a front motor controller and a rear motor controller for execution according to the front motor request torque and the rear motor request torque.
2. The vehicle torque distribution method according to claim 1, wherein the monitoring of the acquired front axle torque coordination command and the acquired rear axle torque coordination command, and the outputting of the front axle torque coordination command and the rear axle torque coordination command to the front motor controller and the rear motor controller for execution according to the front motor requested torque and the rear motor requested torque respectively comprises:
acquiring a front axle torque coordination command, and outputting the acquired front axle torque coordination command to a front motor controller through a controller local area network output module according to the torque requested by a front motor to drive a front axle driving motor;
and acquiring a rear axle torque coordination command, and outputting the acquired rear axle torque command to a rear motor controller through a controller local area network output module according to the rear motor request torque to execute the driving of a rear axle driving motor.
3. The vehicle torque distribution method of claim 1, wherein said calculating a plurality of torque requests of the vehicle based on said vehicle operating state parameters comprises:
calculating an accelerator pedal torque according to the accelerator pedal request torque;
calculating creep torque according to the creep request torque;
calculating a single pedal mode torque according to the single pedal request mode torque; and
a regenerative braking torque is calculated based on the regenerative braking request torque.
4. A vehicle torque distribution method as claimed in claim 3, wherein said selecting one or more torque demands from a plurality of torque demands of the vehicle in dependence on driver behaviour and vehicle operating state parameters, and deriving a total demanded torque of the vehicle based on the selected one or more torque demands comprises:
and acquiring the total required torque of the automobile according to the current behavior of the driver and the current vehicle running state parameters and one or more selected from the accelerator pedal request torque, the crawling request torque, the single pedal request mode torque and the regenerative braking request torque.
5. The vehicle torque distribution method according to claim 1, wherein the generating a front axle torque coordination command and a rear axle torque coordination command according to the driver behavior and the total required torque, respectively, comprises:
summing the front motor torque and the rear motor torque according to the behavior of a driver, the front motor request torque and the rear motor request torque to obtain a first summation value;
calculating the sum of the current front and rear motor request torques to obtain a second sum value;
comparing the first summation value with the second summation value, carrying out torque degradation mode arbitration and/or safety state arbitration according to the comparison result, and carrying out front-rear axle torque transfer and generating distributed front axle torque and rear axle torque;
a front axle torque coordination command and a rear axle torque coordination command are generated based on the distributed front axle torque and rear axle torque, respectively.
6. The vehicle torque distribution method according to claim 5, wherein the torque derating mode arbitration and/or the safe state arbitration comprises:
establishing a torque degradation mode and a safe state;
a torque derating mode and/or a safe state is defined based on the operation of the front and rear axle motors and the front and rear axle motor requests and controller area network communications.
7. The vehicle torque distribution method according to claim 6, wherein said defining torque derating modes and/or safe states based on front and rear axle motor operation and front and rear axle motor requests and controller area network communications comprises:
operating only a front axle motor and transferring torque distributed to a rear axle to a front axle as a first state;
operating only the rear axle motor and transferring the torque distributed to the front axle to the rear axle as a second state;
setting the torque requests of the front and rear axle motors as zero as a third state; and
and turning off the controller area network communication as a fourth state.
8. The vehicle torque distribution method according to claim 7, characterized in that the first summation value is obtained by summing the front and rear motor torques according to the driver's behavior, the front motor requested torque, and the rear motor requested torque; calculating the sum of the current front and rear motor request torques to obtain a second sum value; comparing the first summation value with the second summation value, performing torque derating mode arbitration and/or safety state arbitration according to the comparison result, and front-rear axle torque transfer and generating distributed front axle torque and rear axle torque comprises:
determining that the torque distribution value is faulty if the first summation value is greater than zero and the first summation value minus the second summation value is greater than a first predetermined value;
determining that the torque distribution value is faulty if the first summation value is less than zero and the first summation value minus the second summation value is less than a second predetermined value;
if the signs of the first summation value and the second summation value are opposite and the first summation value is out of a third preset value range, judging that the torque distribution reverse fault exists;
and if the first summation value and the second summation value have opposite signs and the first summation value is within a third preset value range, judging that the torque distribution is in a reverse fault.
9. The vehicle torque distribution method according to claim 8, wherein the triggering of the torque derating mode and/or the safe state comprises:
if the torque distribution value is failed and the front motor mode is normal, a first state is triggered;
if the torque distribution value is in fault, the front motor mode is in fault and the rear motor mode is normal, triggering a second state;
triggering a third state if the torque distribution value fails, the front motor mode fails and the rear motor mode fails;
triggering a third state if the torque distribution value fails, the torque distribution reversal fails, the front motor mode fails, and the rear motor mode fails; if not, then,
triggering a fourth state;
wherein only the front axle motor is operated and the torque allocated to the rear axle is transferred to the front axle as a first state; operating only the rear axle motor and transferring the torque distributed to the front axle to the rear axle as a second state; setting the torque requests of the front and rear axle motors as zero as a third state; and turning off the controller area network communication as a fourth state.
10. The vehicle torque distribution method according to claim 5, wherein the front-rear axle torque transfer includes:
transmitting the front motor request torque and the rear motor request torque after the torque downgrade mode arbitration and/or the safety state arbitration to front and rear torque transfer;
and the distributed front motor request torque and rear motor request torque are transmitted to the controller for end-to-end local area network output protection by front and rear torque transfer, and the front motor request torque and the rear motor request torque are respectively output to the front motor controller and the rear motor controller by the end-to-end local area network output protection of the controller.
11. An apparatus for vehicle torque distribution, comprising: a controller (VCU);
the controller (VCU) comprises a functional module and a monitoring output module,
the functional module is used for calculating torque;
the monitoring module is used for monitoring the calculation result of the torque and outputting and executing the calculation result;
the functional module includes:
the torque demand module is used for acquiring vehicle running state parameters and calculating a plurality of torque demands of the automobile based on the vehicle running state parameters;
the torque coordination module is used for selecting one or more torque demands from a plurality of torque demands of the vehicle according to the driver behavior and the vehicle running state parameters, and acquiring the total required torque of the automobile based on the selected one or more torque demands;
the torque distribution module is used for respectively generating a front axle torque coordination command and a rear axle torque coordination command according to the behavior of a driver and the total required torque, and the front axle torque coordination command and the rear axle torque coordination command are used for distributing front axle torque and rear axle torque;
the monitoring module includes:
and the controller area network output module is used for monitoring the acquired front axle torque coordination command and the acquired rear axle torque coordination command, and respectively outputting the front axle torque coordination command and the rear axle torque coordination command to the front motor controller and the rear motor controller for execution according to the front motor request torque and the rear motor request torque.
12. The apparatus of claim 11, further comprising:
the power battery is used for driving the front shaft driving motor and the rear shaft driving motor to respectively provide electric energy for the front shaft and the rear shaft;
a driving motor for driving the vehicle; and
and the speed reducer is used for adjusting the driving speed acquired by the vehicle.
13. The apparatus of claim 12, wherein the controller area network output module comprises:
the front axle controller local area network output module is used for acquiring a front axle torque coordination command and outputting the acquired front axle torque coordination command to the front motor controller according to the torque requested by the front motor to drive the front axle driving motor;
and the rear axle controller local area network output module is used for acquiring a rear axle torque coordination command and outputting the acquired rear axle torque coordination command to the rear motor controller according to the rear motor request torque to drive the rear axle driving motor.
14. An automobile, characterized by comprising a vehicle torque distribution device according to any one of claims 12 to 13.
15. An electronic device, comprising:
a memory for storing non-transitory computer readable instructions; and
a processor for executing the computer readable instructions such that the computer readable instructions, when executed by the processor, implement the vehicle torque distribution method of any of claims 1 to 10.
16. A computer readable storage medium comprising computer instructions which, when executed on a device, implement a vehicle torque distribution method according to any one of claims 1 to 10.
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