CN117261621B - Vehicle driving energy distribution control method and device - Google Patents

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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driving
vehicle
energy distribution
driving energy
distribution scheme
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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

The invention relates to the field of automobile control, in particular to a vehicle driving energy distribution control method and device. A vehicle drive energy distribution control device comprising: the system comprises a vehicle current position acquisition module, a vehicle current position matching module, a first driving energy distribution scheme output module, a vehicle current speed acquisition module, a vehicle current speed matching module, a second driving energy distribution scheme output module and a third driving energy distribution scheme output module. In the invention, when the vehicle is positioned on a special road section, a first driving energy distribution scheme is adopted, so that the lowest output power is realized, and the energy is saved; when the vehicle runs at a high speed, a second driving energy distribution scheme is adopted, so that the ground grabbing force requirement during the high-speed running is met, and the output efficiency of the driving engine can be maximized; the corresponding driving energy distribution scheme is implemented according to different driving conditions of the vehicle, and the applicability is wide.

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. A vehicle drive energy distribution control method characterized by 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, adopting a third driving energy distribution scheme to distribute driving energy, wherein 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, 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 ；
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.
2. The vehicle drive energy distribution control method according to claim 1, characterized in that the drive energy distribution is further performed for the case of performing a sudden acceleration, by the steps of:
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 。
3. The vehicle drive energy distribution control method according to claim 2, characterized in that when there is a case where the drive torque is zero in the second drive energy distribution scheme, the drive engine whose drive torque is zero is controlled to be converted into the generator mode, and energy recovery is performed.
4. A vehicle drive energy distribution control apparatus, characterized in that the system applies a vehicle drive energy distribution control method according to any one of the preceding claims 1 to 3, 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.
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