CN117261621B - A vehicle driving energy distribution control method and device - Google Patents

A vehicle driving energy distribution control method and device Download PDF

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Publication number
CN117261621B
CN117261621B CN202311552115.7A CN202311552115A CN117261621B CN 117261621 B CN117261621 B CN 117261621B CN 202311552115 A CN202311552115 A CN 202311552115A CN 117261621 B CN117261621 B CN 117261621B
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vehicle
driving
energy distribution
driving energy
torque
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CN117261621A (en
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李碧浩
柳阳
陈博
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Shanghai Futong Software Technology Co ltd
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Shanghai Futong Software Technology Co ltd
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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
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2045—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for optimising the use of energy
    • 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
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • 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
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • 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
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • 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
    • 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
    • B60L2240/60—Navigation input
    • B60L2240/64—Road conditions

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Arrangement And Driving Of Transmission Devices (AREA)

Abstract

本发明涉及汽车控制领域，更具体的说，它涉及一种车辆驱动能量分配控制方法及装置。一种车辆驱动能量分配控制装置，包括：车辆当前位置获取模块、车辆当前位置匹配模块、第一驱动能量分配方案输出模块、车辆当前车速获取模块、车辆当前车速匹配模块、第二驱动能量分配方案输出模块和第三驱动能量分配方案输出模块。本发明中，当车辆位于特殊路段时，采用第一驱动能量分配方案，实现输出功率最低，节约能源；当车辆处于高速行驶时，采用第二驱动能量分配方案，满足高速行驶时的抓地力需求，能够使得驱动发动机的输出效率最大；实现针对车辆的不同行驶情况执行对应的驱动能量分配方案，适用性广。

The present invention relates to the field of automobile control, and more specifically, to a vehicle driving energy distribution control method and device. A vehicle driving energy distribution control device, including: a vehicle current position acquisition module, a vehicle current position matching module, a first driving energy distribution plan output module, a vehicle current speed acquisition module, a vehicle current speed matching module, and a second driving energy distribution plan. output module and a third drive energy distribution scheme output module. In the present invention, when the vehicle is located on a special road section, the first driving energy distribution scheme is adopted to achieve the lowest output power and save energy; when the vehicle is traveling at high speed, the second driving energy distribution scheme is adopted to meet the grip requirements during high-speed driving. , which can maximize the output efficiency of the driving engine; implement corresponding driving energy distribution plans according to different driving conditions of the vehicle, and has wide applicability.

Description

Vehicle driving energy distribution control method and device
Technical Field
The invention relates to the field of automobile control, in particular to a vehicle driving energy distribution control method and device.
Background
Each driving engine of the distributed electric vehicle is controlled by a corresponding driving motor, so that the driving force distribution of the electric vehicle is more complex than that of a conventional vehicle. At present, the driving force distribution for the electric automobile generally aims at energy consumption, which is a problem of insufficient battery life of the electric automobile, and the mode is single in consideration of the mode, so that the method cannot adapt to the specific situation of the automobile during running.
Disclosure of Invention
The invention provides a vehicle driving energy distribution control method and a device, which are characterized in that different driving energy distribution schemes are executed according to the position of a vehicle and the speed of the vehicle, when the vehicle is positioned on a special road section, the driving energy is distributed by adopting a first driving energy distribution scheme, so that the lowest output power can be realized in the process of changing driving torque, and the energy is saved; when the vehicle runs at a high speed, the second driving energy distribution scheme is adopted to distribute driving energy, so that each driving engine of the vehicle can be driven according to rated torque, the ground grabbing force requirement during high-speed running is met, meanwhile, the driving is carried out according to the rated torque, and the output efficiency of the driving engine can be maximized; when the vehicle normally runs on a straight road, the driving energy is directly distributed in an average distribution mode, so that corresponding driving energy distribution schemes are implemented according to different running conditions of the vehicle, and the applicability is wide.
A vehicle drive energy distribution control method, comprising:
s1: acquiring the current position of the vehicle;
s2: matching the current position of the vehicle with the special road section coordinate set, and if the current position of the vehicle is successfully matched with the special road section coordinate set, performing driving energy distribution by adopting a first driving energy distribution scheme, wherein the first driving energy distribution scheme is set based on the output power of the vehicle, and the first driving energy distribution scheme ensures that the whole output power is minimum while ensuring the output of the corresponding driving torque of the vehicle; otherwise, entering S3;
s3: acquiring the speed of the current vehicle, judging whether the speed of the current vehicle is greater than a speed threshold, if so, performing driving energy distribution by adopting a second driving energy distribution scheme, wherein the driving energy distribution by adopting the second driving energy distribution scheme is set based on meeting the maximum output driving torque; otherwise, the driving energy distribution is performed by adopting a third driving energy distribution scheme, and the third driving energy distribution scheme is set based on the average distribution driving energy.
Preferably, the driving energy distribution is performed by the first driving energy distribution scheme, which specifically includes the following steps: acquiring the total driving torque T of the current vehicle, and recording the driving torque of each driving engine of the vehicle as X n N=1, 2,3,4; dynamic planning is performed by the following conditions:
wherein r is the rotation speed of the current vehicle;
outputting the dynamically planned driving torque X n All driving torques X n A first driving energy allocation scheme is composed,when the driving energy distribution is carried out through the first driving energy distribution scheme, corresponding driving torque X is distributed to the driving engine of the vehicle in sequence n 。
Preferably, the driving energy allocation by the second driving energy allocation scheme specifically comprises the following steps:
the driving torque of each driving engine of the vehicle is denoted as X n Driving torque X n Initial 0, rated torque of each driving engine in the vehicle is obtained, all rated torques are arranged from large to small and are marked as Y n Acquiring the total driving torque T of the current vehicle;
a1: let i=1, i be used to select the rated torque as a number;
a2: selecting rated torque Y i delta=t-Y is calculated i Judging whether 'delta < 0' is satisfied, if 'delta < 0' is not satisfied, setting rated torque Y i As driving torque X i Entering A3; if "delta < 0" is satisfied, T is taken as the driving torque X i Enter A4;
a3: assigning δ to T and i+1 to i, returning to A2;
a4: all driving torques X n Forming a second driving energy distribution scheme, and distributing corresponding driving torque X to the driving engine of the vehicle in sequence when the driving energy distribution is carried out through the second driving energy distribution scheme n 。
Preferably, the driving energy allocation by the third driving energy allocation scheme specifically comprises the following steps: acquiring the total driving torque T of the current vehicle, and recording the driving torque of each driving engine of the vehicle as X n Then all the driving torque X is used n Assigned to T/4.
Preferably, for further driving energy distribution in the case of rapid acceleration, the specific steps are as follows:
b1: acquiring the variation amplitude of a vehicle driving pedal;
b2: comparing the variation amplitude of the vehicle pedal with a sudden acceleration variation amplitude threshold, and if the variation amplitude of the vehicle pedal is larger than the sudden acceleration variation amplitude threshold, entering B3; otherwise, acquiring the variation amplitude of the vehicle driving pedal again at intervals of preset time, and returning to B1;
b3: calculating the desired total driving torque T of the vehicle according to the variation amplitude of the driving pedal of the vehicle q And the driving torque of each driving engine is calculated by a dynamic programming algorithm by taking the total driving torque T of the vehicle as a target condition, wherein the formula is as follows:
wherein the method comprises the steps ofFor the output drive torque +.>Driving torque before the rapid acceleration state;
b4: outputting the dynamically planned driving torque X n All driving torques X n The first driving energy distribution scheme is recombined, and when the driving energy distribution is carried out through the first driving energy distribution scheme, the corresponding driving torque X is distributed to the driving engine of the vehicle in sequence n 。
Preferably, when the driving torque is zero in the second driving energy distribution scheme, the driving engine with zero driving torque is controlled to be converted into a generator mode for energy recovery.
A vehicle drive energy distribution control device comprising:
the vehicle current position acquisition module is used for acquiring the current position of the vehicle;
the vehicle current position matching module is used for matching the vehicle current position with a special road section coordinate set;
the first driving energy distribution scheme output module is used for outputting a first driving energy distribution scheme according to the matching result of the vehicle current position matching module, and outputting the first driving energy distribution scheme when the vehicle current position is successfully matched with the special road section coordinate set;
the vehicle current speed acquisition module is used for acquiring the speed of the current vehicle;
the vehicle current speed matching module is used for matching the current speed of the vehicle with a speed threshold value;
the second driving energy distribution scheme output module is used for outputting a second driving energy distribution scheme according to the matching result of the current vehicle speed matching module of the vehicle, and outputting the second driving energy distribution scheme when the speed of the current vehicle is greater than the speed threshold;
the third driving energy distribution scheme output module is used for outputting a third driving energy distribution scheme according to the matching result of the current vehicle speed matching module of the vehicle, and outputting the third driving energy distribution scheme when the speed of the current vehicle is not greater than the speed threshold value.
The invention has the following advantages:
1. according to the invention, different driving energy distribution schemes are executed according to the position of the vehicle and the speed of the vehicle, when the vehicle is positioned on a special road section, the first driving energy distribution scheme is adopted for driving energy distribution, so that the lowest output power can be realized in the process of changing the driving torque, and the energy is saved; when the vehicle runs at a high speed, the second driving energy distribution scheme is adopted to distribute driving energy, so that each driving engine of the vehicle can be driven according to rated torque, the ground grabbing force requirement during high-speed running is met, meanwhile, the driving is carried out according to the rated torque, and the output efficiency of the driving engine can be maximized; when the vehicle normally runs on a straight road, the driving energy is directly distributed in an average distribution mode, so that corresponding driving energy distribution schemes are implemented according to different running conditions of the vehicle, and the applicability is wide.
2. According to the invention, by considering the driving torque variation, the output first driving energy distribution scheme can achieve the minimum driving torque variation of each driving engine, and poor riding experience caused by overlarge driving torque variation is avoided.
Drawings
Fig. 1 is a schematic structural view of a vehicle drive energy distribution control device employed in an embodiment of the present invention.
Detailed Description
In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Example 1
A vehicle drive energy distribution control method, comprising:
s1: acquiring the current position of the vehicle through a vehicle built-in position positioner;
s2: the method comprises the steps that the current position of a vehicle is matched with a special road section coordinate set, wherein the special road section refers to an intersection, a ramp and the like in an urban area, the special road section coordinate set can be obtained through various navigation software, if the current position of the vehicle is successfully matched with the special road section coordinate set, the fact that the vehicle is in a special road section at the moment is indicated, the first driving energy distribution scheme is adopted for driving energy distribution, the first driving energy distribution scheme is set based on vehicle output power, the first driving energy distribution scheme enables the overall output power to be minimum while ensuring the output of corresponding vehicle driving torque, and the vehicle can meet various conditions such as speed reduction when meeting an intersection in the driving process of the special road section, and can not ensure stable driving torque output and waste a large amount of power output in the process of continuously adjusting driving torque, so that the energy can be saved by adopting the first driving energy distribution scheme; otherwise, entering S3;
s3: acquiring the speed of the current vehicle, judging whether the speed of the current vehicle is greater than a speed threshold value, manually setting the speed threshold value for representing whether the current vehicle is in a high-speed running state, if the speed of the current vehicle is greater than the speed threshold value, adopting a second driving energy distribution scheme to carry out driving energy distribution, setting the driving energy distribution based on meeting the maximum output driving torque, and when the vehicle needs to run at a high speed, the driving energy needs to meet the maximum driving torque output of each driving engine of the vehicle, so that the vehicle is ensured to have driving energy to run at a high speed; otherwise, the driving energy distribution is performed by adopting a third driving energy distribution scheme, and the third driving energy distribution scheme is set based on the average distribution driving energy.
The driving energy distribution is carried out through a first driving energy distribution scheme, and the method specifically comprises the following steps of: acquiring the total driving torque T of the current vehicle, and recording the driving torque of each driving engine of the vehicle as X n N=1, 2,3,4; dynamic planning is performed by the following conditions:
wherein r is the rotation speed of the current vehicle;
outputting the dynamically planned driving torque X n All driving torques X n Forming a first driving energy distribution scheme, and distributing corresponding driving torque X to the driving engine of the vehicle in sequence when the driving energy distribution is carried out through the first driving energy distribution scheme n 。
The driving energy distribution by the second driving energy distribution scheme specifically comprises the following steps:
the driving torque of each driving engine of the vehicle is denoted as X n Driving torque X n Initial 0, rated torque of each driving engine in the vehicle is obtained, all rated torques are arranged from large to small and are marked as Y n Acquiring the total driving torque T of the current vehicle;
a1: let i=1, i be used to select the rated torque as a number;
a2: selecting rated torque Y i delta=t-Y is calculated i Judging whether 'delta < 0' is satisfied, if 'delta < 0' is not satisfied, indicating that the driving energy distribution of the next driving engine is required to be carried out, and rated torque Y i As driving torque X i Entering A3; if "delta < 0" is satisfied, it means that the driving energy distribution of the next driving engine is not needed, T is taken as the driving torque X i Enter A4;
a3: assigning δ to T and i+1 to i, returning to A2;
a4: all driving torques X n Forming a second driving energy distribution scheme, and distributing corresponding driving torque X to the driving engine of the vehicle in sequence when the driving energy distribution is carried out through the second driving energy distribution scheme n The method comprises the steps of carrying out a first treatment on the surface of the When the driving torque is zero in the second driving energy distribution scheme, the driving engine with zero driving torque is controlled to be converted into a generator mode, and energy recovery is performed.
The driving energy distribution by the third driving energy distribution scheme specifically comprises the following steps: acquiring the total driving torque T of the current vehicle, and recording the driving torque of each driving engine of the vehicle as X n Then all the driving torque X is used n Assigned to T/4.
According to the method and the device, different driving energy distribution schemes are executed according to the position of the vehicle and the speed of the vehicle, when the vehicle is located on a special road section, the driving energy distribution is carried out by adopting the first driving energy distribution scheme, so that the lowest output power can be realized in the process of changing driving torque, and energy sources are saved; when the vehicle runs at a high speed, the second driving energy distribution scheme is adopted to distribute driving energy, so that each driving engine of the vehicle can be driven according to rated torque, the ground grabbing force requirement during high-speed running is met, meanwhile, the driving is carried out according to the rated torque, and the output efficiency of the driving engine can be maximized; when the vehicle normally runs on a straight road, the driving energy is directly distributed in an average distribution mode, so that corresponding driving energy distribution schemes are implemented according to different running conditions of the vehicle, and the applicability is wide.
When the driving energy is distributed through the first driving energy distribution scheme, the driver may execute the operation of rapid acceleration due to the special road section, so that the riding experience of the personnel in the vehicle is poor, and the driving energy distribution is further required under the condition of rapid acceleration, and the specific steps are as follows:
b1: acquiring the variation amplitude of a vehicle driving pedal, wherein the variation amplitude is the variation angle of the driving pedal in unit time and is used for representing whether the vehicle is in a sudden acceleration state or not;
b2: comparing the variation amplitude of the vehicle pedal with a sudden acceleration variation amplitude threshold, manually setting the sudden acceleration variation amplitude threshold, storing the sudden acceleration variation amplitude threshold in a configuration file, and if the variation amplitude of the vehicle pedal is larger than the sudden acceleration variation amplitude threshold, indicating that a vehicle driver executes sudden acceleration operation at the moment, and entering B3; otherwise, acquiring the variation amplitude of the vehicle driving pedal again at intervals of preset time, and returning to B1;
b3: calculating the desired total driving torque T of the vehicle according to the variation amplitude of the driving pedal of the vehicle q And the driving torque of each driving engine is calculated by a dynamic programming algorithm by taking the total driving torque T of the vehicle as a target condition, wherein the formula is as follows:
wherein the method comprises the steps ofFor the output drive torque +.>Driving torque before the rapid acceleration state;
b4: outputting the dynamically planned driving torque X n All driving torques X n The first driving energy distribution scheme is recombined, and when the driving energy distribution is carried out through the first driving energy distribution scheme, the corresponding driving torque X is distributed to the driving engine of the vehicle in sequence n 。
According to the driving torque change control method and device, the driving torque change of each driving engine can be minimized through considering the driving torque change, and poor riding experience caused by overlarge driving torque change is avoided.
Example 2
A vehicle drive energy distribution control apparatus, as shown in fig. 1, includes:
the vehicle current position acquisition module is used for acquiring the current position of the vehicle through the vehicle built-in position locator;
the vehicle current position matching module is used for matching the vehicle current position with a special road section coordinate set;
the first driving energy distribution scheme output module is used for outputting a first driving energy distribution scheme according to the matching result of the vehicle current position matching module, and outputting the first driving energy distribution scheme when the vehicle current position is successfully matched with the special road section coordinate set;
the vehicle current speed acquisition module is used for acquiring the speed of the current vehicle;
the vehicle current speed matching module is used for matching the current speed of the vehicle with a speed threshold value;
the second driving energy distribution scheme output module is used for outputting a second driving energy distribution scheme according to the matching result of the current vehicle speed matching module of the vehicle, and outputting the second driving energy distribution scheme when the speed of the current vehicle is greater than the speed threshold;
the third driving energy distribution scheme output module is used for outputting a third driving energy distribution scheme according to the matching result of the current vehicle speed matching module of the vehicle, and outputting the third driving energy distribution scheme when the speed of the current vehicle is not greater than the speed threshold value.
It will be understood that modifications and variations will be apparent to those skilled in the art from the foregoing description, and it is intended that all such modifications and variations be included within the scope of the following claims. Parts of the specification not described in detail belong to the prior art known to those skilled in the art.

Claims (4)

1.一种车辆驱动能量分配控制方法，其特征在于，包括：1. A vehicle driving energy distribution control method, characterized by comprising: S1：获取车辆当前位置；S1: Get the current position of the vehicle; S2：将车辆当前位置与特殊路段坐标集进行匹配，若是车辆当前位置与特殊路段坐标集匹配成功，采用第一驱动能量分配方案进行驱动能量分配，第一驱动能量分配方案基于车辆输出功率进行设定，此处的第一驱动能量分配方案是指在保证输出对应车辆驱动扭矩的同时使得整体输出功率最小；否则，进入S3；S2: Match the current position of the vehicle with the coordinate set of the special road section. If the current position of the vehicle matches the coordinate set of the special road section successfully, the first driving energy distribution scheme is used for driving energy distribution. The first driving energy distribution scheme is set based on the vehicle output power. It is determined that the first driving energy distribution scheme here refers to minimizing the overall output power while ensuring the output of the driving torque corresponding to the vehicle; otherwise, enter S3; S3：获取当前车辆的车速 ，判断当前车辆的车速是否大于车速阈值，若是当前车辆的车速大于车速阈值，采用第二驱动能量分配方案进行驱动能量分配，第二驱动能量分配方案进行驱动能量分配基于满足最大输出驱动扭矩进行设定；否则，采用第三驱动能量分配方案进行驱动能量分配，第三驱动能量分配方案基于平均分配驱动能量进行设定；S3: Obtain the speed of the current vehicle and determine whether the speed of the current vehicle is greater than the speed threshold. If the speed of the current vehicle is greater than the speed threshold, use the second driving energy allocation scheme to allocate driving energy. The second driving energy allocation scheme allocates driving energy based on Set when the maximum output driving torque is satisfied; otherwise, the third driving energy distribution scheme is used for driving energy distribution, and the third driving energy distribution scheme is set based on the average distribution of driving energy; 通过第一驱动能量分配方案进行驱动能量分配，具体包括如下步骤：获取当前车辆的车辆总驱动扭矩T，再将车辆的各个驱动发动机的驱动扭矩记为Xn，n=1，2，3，4；通过如下条件进行动态规划：Driving energy distribution is performed through the first driving energy distribution plan, which specifically includes the following steps: obtain the total vehicle driving torque T of the current vehicle, and then record the driving torque of each driving engine of the vehicle as X n , n=1, 2, 3, 4; Perform dynamic programming through the following conditions: 其中r为当前车辆的转速；where r is the current vehicle speed; 输出动态规划后的驱动扭矩Xn，将所有驱动扭矩Xn组成第一驱动能量分配方案，当通过第一驱动能量分配方案进行驱动能量分配，依次对车辆的驱动发动机分配对应的驱动扭矩Xn；Output the dynamically programmed driving torque ; 通过第二驱动能量分配方案进行驱动能量分配具体包括如下步骤：Distributing driving energy through the second driving energy distribution scheme specifically includes the following steps: 将车辆的各个驱动发动机的驱动扭矩记为Xn，驱动扭矩Xn初始为0，获取车辆中各个驱动发动机的额定扭矩，将所有额定扭矩按照从大到小进行排列，并记为Yn，获取当前车辆的车辆总驱动扭矩T；The driving torque of each driving engine of the vehicle is recorded as Get the total vehicle driving torque T of the current vehicle; A1：令i=1，i用于作为编号选择额定扭矩；A1: Let i=1, i is used as the number to select the rated torque; A2：选择额定扭矩Yi，计算δ=T-Yi，判断“δ＜0”是否成立，若是“δ＜0”不成立，将额定扭矩Yi作为驱动扭矩Xi，进入A3；若是“δ＜0”成立，则将T作为驱动扭矩Xi，进入A4；A2: Select the rated torque Yi , calculate δ=TY i , and determine whether "δ<0" is true. If "δ<0" is not true, use the rated torque Yi as the driving torque X i and enter A3; if "δ<0"" is established, then use T as the driving torque X i and enter A4; A3：将δ赋值给T，并将i+1赋值给i，回到A2；A3: Assign δ to T, assign i+1 to i, and return to A2; A4：将所有驱动扭矩Xn组成第二驱动能量分配方案，当通过第二驱动能量分配方案进行驱动能量分配，依次对车辆的驱动发动机分配对应的驱动扭矩Xn；A4 : All driving torques 通过第三驱动能量分配方案进行驱动能量分配具体包括如下步骤：获取当前车辆的车辆总驱动扭矩T，将车辆的各个驱动发动机的驱动扭矩记为Xn，再将所有的驱动扭矩Xn赋值给T/4。The driving energy distribution through the third driving energy distribution scheme specifically includes the following steps: obtain the total driving torque T of the current vehicle, record the driving torque of each driving engine of the vehicle as X n , and then assign all driving torques X n to T/4. 2.根据权利要求1所述的一种车辆驱动能量分配控制方法，其特征在于，针对进行急加速的情况下进一步进行驱动能量分配，具体步骤如下：2. A vehicle driving energy distribution control method according to claim 1, characterized in that, in the case of rapid acceleration, further driving energy distribution is performed, and the specific steps are as follows: B1：获取车辆驱动踏板的变化幅度；B1: Obtain the change amplitude of the vehicle's driving pedal; B2：将车辆踏板的变化幅度与急加速变化幅度阈值进行比较，若是车辆踏板的变化幅度大于急加速变化幅度阈值，进入B3；否则，间隔预设时间，再次获取车辆驱动踏板的变化幅度，回到B1；B2: Compare the change amplitude of the vehicle pedal with the sudden acceleration change amplitude threshold. If the change amplitude of the vehicle pedal is greater than the sudden acceleration change amplitude threshold, enter B3; otherwise, after a preset time interval, obtain the change amplitude of the vehicle driving pedal again, and return to B1; B3：根据车辆驱动踏板的变化幅度计算车辆期望总驱动扭矩Tq，并以车辆总驱动扭矩T作为目标条件，通过动态规划算法计算各个驱动发动机的驱动扭矩，公式如下：B3: Calculate the vehicle's expected total driving torque T q according to the change amplitude of the vehicle's driving pedal, and use the vehicle's total driving torque T as the target condition to calculate the driving torque of each driving engine through a dynamic programming algorithm. The formula is as follows: 其中为输出的驱动扭矩，/>为急加速状态之前的驱动扭矩；in is the output driving torque,/> It is the driving torque before the rapid acceleration state; B4：输出动态规划后的驱动扭矩Xn，将所有驱动扭矩Xn重新组成第一驱动能量分配方案，当通过第一驱动能量分配方案进行驱动能量分配，依次对车辆的驱动发动机分配对应的驱动扭矩Xn。B4: Output the dynamically programmed driving torque Torque Xn . 3.根据权利要求2所述的一种车辆驱动能量分配控制方法，其特征在于，当第二驱动能量分配方案中存在驱动扭矩为零的情况时，控制驱动扭矩为零的驱动发动机转化为发电机模式，进行能量回收。3. A vehicle driving energy distribution control method according to claim 2, characterized in that when there is a situation where the driving torque is zero in the second driving energy distribution scheme, the driving engine with the driving torque of zero is controlled to convert into power generation. machine mode for energy recovery. 4.一种车辆驱动能量分配控制装置，其特征在于，所述系统应用上述权利要求1-3任一项所述的一种车辆驱动能量分配控制方法，包括：4. A vehicle driving energy distribution control device, characterized in that the system applies a vehicle driving energy distribution control method according to any one of claims 1 to 3, including: 车辆当前位置获取模块，用于获取车辆当前位置；The vehicle's current position acquisition module is used to obtain the vehicle's current position; 车辆当前位置匹配模块，用于将车辆当前位置与特殊路段坐标集进行匹配；The vehicle's current position matching module is used to match the vehicle's current position with the special road segment coordinate set; 第一驱动能量分配方案输出模块，用于根据车辆当前位置匹配模块的匹配结果输出第一驱动能量分配方案，当车辆当前位置与特殊路段坐标集匹配成功，输出第一驱动能量分配方案；The first driving energy distribution plan output module is used to output the first driving energy distribution plan according to the matching result of the vehicle's current position matching module. When the vehicle's current position matches the special road section coordinate set successfully, the first driving energy distribution plan is output; 车辆当前车速获取模块，用于获取当前车辆的车速；The vehicle's current speed acquisition module is used to obtain the current vehicle's speed; 车辆当前车速匹配模块，用于将车辆当前的车速与车速阈值进行匹配；The vehicle's current speed matching module is used to match the vehicle's current speed with the vehicle speed threshold; 第二驱动能量分配方案输出模块，用于根据车辆当前车速匹配模块的匹配结果输出第二驱动能量分配方案，当当前车辆的车速大于车速阈值时，输出第二驱动能量分配方案；The second driving energy distribution plan output module is used to output the second driving energy distribution plan according to the matching result of the current vehicle speed matching module of the vehicle. When the current vehicle speed is greater than the vehicle speed threshold, output the second driving energy distribution plan; 第三驱动能量分配方案输出模块，用于根据车辆当前车速匹配模块的匹配结果输出第三驱动能量分配方案，当当前车辆的车速不大于车速阈值时，输出第三驱动能量分配方案。The third driving energy distribution plan output module is used to output the third driving energy distribution plan according to the matching result of the current vehicle speed matching module of the vehicle. When the current vehicle speed is not greater than the vehicle speed threshold, output the third driving energy distribution plan.
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