CN117301888A

CN117301888A - Torque distribution method and device, storage medium and vehicle

Info

Publication number: CN117301888A
Application number: CN202311266202.6A
Authority: CN
Inventors: 梁金柱; 刘寒
Original assignee: Great Wall Motor Co Ltd
Current assignee: Great Wall Motor Co Ltd
Priority date: 2023-09-27
Filing date: 2023-09-27
Publication date: 2023-12-29

Abstract

The application provides a torque distribution method, a torque distribution device, a storage medium and a vehicle, and belongs to the technical field of vehicles. According to the embodiment of the application, the basic torque distribution proportion is determined based on the current driving mode of the vehicle, the road condition type of the target road section is determined based on the navigation information of the target road section, and the basic torque distribution proportion can be corrected based on the road condition type to obtain the first torque distribution proportion; further, when the vehicle travels to the target road section, the front axle and the rear axle are controlled to output torque based on the first torque distribution ratio. According to the method and the device for adjusting the torque distribution ratio, the road condition type of the target road section is comprehensively considered on the basis of the driving mode, the proper torque distribution ratio can be pertinently matched for the target road section, the vehicle can flexibly adjust the torque distribution ratio under the complex road condition, and further the driving performance and the power performance of the vehicle are improved, and meanwhile the vehicle can be effectively guaranteed to work in an optimal energy consumption zone.

Description

Torque distribution method and device, storage medium and vehicle

Technical Field

The present disclosure relates to the field of vehicle technologies, and in particular, to a torque distribution method, a device, a storage medium, and a vehicle.

Background

For a vehicle equipped with a four-wheel drive system, front and rear axle torque distribution is an important link in whole vehicle torque calculation, and directly influences the drivability and energy-saving effect of the whole vehicle.

In the conventional torque distribution method, the front and rear axle torque distribution strategies are generally bound with the driving modes, namely, different driving modes correspond to different front and rear axle torque distribution strategies, however, the torque distribution method is single, and under a set driving mode, the front and rear axle torque distribution strategies are also determined, so that the front and rear axle torque cannot be flexibly adjusted, and further, the driving performance and the energy consumption of the vehicle can be negatively influenced.

Disclosure of Invention

The application provides a torque distribution method, a torque distribution device, a storage medium and a vehicle, which are used for solving the problem that front axle torque and rear axle torque cannot be flexibly adjusted due to single front axle torque and rear axle torque distribution strategy in the prior art.

In order to solve the problems, the application adopts the following technical scheme:

in a first aspect, an embodiment of the present application provides a torque distribution method, including:

determining a base torque distribution ratio based on a current driving mode of the vehicle;

Determining the road condition type of a target road section based on navigation information of the target road section;

correcting the basic torque distribution proportion based on the road condition type to obtain a first torque distribution proportion;

and controlling the front axle and the rear axle to output torque based on the first torque distribution ratio when the vehicle runs to the target road section.

In an embodiment of the present application, the step of determining the base torque distribution ratio based on the current driving mode of the vehicle includes:

acquiring a first mapping relation; the first mapping relation characterizes different basic torque distribution ratios corresponding to different driving modes;

and determining the basic torque distribution proportion based on the first mapping relation and the current driving mode.

In an embodiment of the present application, the step of correcting the base torque distribution ratio to obtain a first torque distribution ratio based on the road condition type includes:

acquiring a second mapping relation; the second mapping relation characterizes different road condition correction parameters corresponding to different road condition types;

determining a target road condition correction parameter based on the second mapping relation and the road condition type;

and correcting the basic torque distribution proportion based on the target road condition correction parameter to obtain the first torque distribution proportion.

In an embodiment of the present application, after the step of controlling the front axle and the rear axle to output torque based on the first torque distribution ratio in a case where the vehicle travels to the target road section, the method further includes:

acquiring a third mapping relation and the current residual capacity of the power battery; the third mapping relation characterizes different electric quantity correction parameters corresponding to different residual electric quantities;

determining a target electric quantity correction parameter based on the third mapping relation and the current residual electric quantity;

correcting the first torque distribution proportion based on the target electric quantity correction parameter to obtain a second torque distribution proportion; the second torque split ratio is used to split torque for a front axle and a rear axle of the vehicle.

In an embodiment of the present application, after the step of correcting the first torque distribution ratio to obtain the second torque distribution ratio based on the current remaining power, the method further includes:

acquiring a fourth mapping relation and current working condition information of the vehicle; the fourth mapping relation represents different working condition correction parameters corresponding to different working condition information;

determining a target working condition correction parameter based on the fourth mapping relation and the current working condition information;

Correcting the second torque distribution proportion based on the target working condition correction parameter to obtain a third torque distribution proportion; the third torque split ratio is used to split torque for a front axle and a rear axle of the vehicle.

under the condition that the current driving mode and/or the road condition type are/is detected to be changed, determining an updated target torque distribution proportion;

and controlling the torque distribution proportion of the vehicle to gradually reach the target torque distribution proportion from the first torque distribution proportion according to a preset torque gradient change strategy.

In an embodiment of the present application, according to a preset torque gradient change strategy, the step of controlling the torque distribution ratio of the vehicle from the first torque distribution ratio to the target torque distribution ratio includes:

acquiring the whole vehicle required torque of the vehicle;

determining the current driving torque of a target drive axle based on the whole vehicle required torque and the first torque distribution proportion; determining a target driving torque of the target driving axle based on the whole vehicle required torque and the target torque distribution proportion; wherein, in the case that the vehicle includes an engine, the target drive axle is a drive axle where the engine is located;

Determining a target torque variation gradient based on a torque difference between the target driving torque and the current driving torque; the target torque change gradient represents the change amount of torque in unit time;

and controlling a torque distribution ratio of the vehicle to gradually reach the target torque distribution ratio from the first torque distribution ratio based on the target torque variation gradient.

In a second aspect, based on the same inventive concept, embodiments of the present application provide a torque distribution device, the device including:

a first determination module for determining a base torque distribution ratio based on a current driving mode of the vehicle;

the second determining module is used for determining the road condition type of the target road section based on the navigation information of the target road section;

the first correction module is used for correcting the basic torque distribution proportion based on the road condition type to obtain a first torque distribution proportion;

and the first control module is used for controlling the front axle and the rear axle to output torque based on the first torque distribution proportion under the condition that the vehicle runs to the target road section.

In an embodiment of the present application, the first determining module includes:

The first mapping relation acquisition sub-module is used for acquiring a first mapping relation; the first mapping relation characterizes different basic torque distribution ratios corresponding to different driving modes;

and the first proportion determining submodule is used for determining the basic torque distribution proportion based on the first mapping relation and the current driving mode.

In an embodiment of the present application, the first correction module includes:

the second mapping relation acquisition sub-module is used for acquiring a second mapping relation; the second mapping relation characterizes different road condition correction parameters corresponding to different road condition types;

the road condition correction parameter determining submodule is used for determining a target road condition correction parameter based on the second mapping relation and the road condition type;

and the first correction submodule is used for correcting the basic torque distribution proportion based on the target road condition correction parameter to obtain the first torque distribution proportion.

In an embodiment of the present application, the torque distribution device further includes:

the third mapping relation acquisition sub-module is used for acquiring the third mapping relation and the current residual electric quantity of the power battery; the third mapping relation characterizes different electric quantity correction parameters corresponding to different residual electric quantities;

The electric quantity correction parameter determining submodule is used for determining a target electric quantity correction parameter based on the third mapping relation and the current residual electric quantity;

the second correction submodule is used for correcting the first torque distribution proportion based on the target electric quantity correction parameter to obtain a second torque distribution proportion; the second torque split ratio is used to split torque for a front axle and a rear axle of the vehicle.

the fourth mapping relation acquisition sub-module is used for acquiring a fourth mapping relation and the current working condition information of the vehicle; the fourth mapping relation represents different working condition correction parameters corresponding to different working condition information;

the working condition correction parameter determining submodule is used for determining a target working condition correction parameter based on the fourth mapping relation and the current working condition information;

the third correction submodule is used for correcting the second torque distribution proportion based on the target working condition correction parameter to obtain a third torque distribution proportion; the third torque split ratio is used to split torque for a front axle and a rear axle of the vehicle.

The distribution proportion updating module is used for determining updated target torque distribution proportion under the condition that the current driving mode and/or the road condition type are detected to be changed;

and the distribution proportion adjustment module is used for controlling the torque distribution proportion of the vehicle to gradually reach the target torque distribution proportion from the first torque distribution proportion according to a preset torque gradient change strategy.

In an embodiment of the present application, the allocation scaling module includes:

the whole vehicle required torque obtaining sub-module is used for obtaining the whole vehicle required torque of the vehicle;

the driving torque determining submodule is used for determining the current driving torque of the target drive axle based on the whole vehicle required torque and the first torque distribution proportion; determining a target driving torque of the target driving axle based on the whole vehicle required torque and the target torque distribution proportion; wherein, in the case that the vehicle includes an engine, the target drive axle is a drive axle where the engine is located;

a torque change gradient determination sub-module for determining a target torque change gradient based on a torque difference between the target driving torque and the current driving torque; the target torque change gradient represents the change amount of torque in unit time;

And the distribution proportion adjustment sub-module is used for controlling the torque distribution proportion of the vehicle to gradually reach the target torque distribution proportion from the first torque distribution proportion based on the target torque change gradient.

In a third aspect, based on the same inventive concept, embodiments of the present application provide a computer-readable storage medium having stored therein machine-executable instructions that when executed by a processor implement the torque distribution method set forth in the first aspect of the present application.

In a fourth aspect, based on the same inventive concept, an embodiment of the present application provides a vehicle, including a processor and a memory, the memory storing machine executable instructions executable by the processor, the processor being configured to execute the machine executable instructions to implement the torque distribution method set forth in the first aspect of the present application.

Compared with the prior art, the application has the following advantages:

according to the torque distribution method provided by the embodiment of the application, the basic torque distribution proportion is determined based on the current driving mode of the vehicle, the road condition type of the target road section is determined based on the navigation information of the target road section, and the basic torque distribution proportion can be corrected based on the road condition type to obtain the first torque distribution proportion; further, when the vehicle travels to the target road section, the front axle and the rear axle are controlled to output torque based on the first torque distribution ratio. According to the method and the device for adjusting the torque distribution ratio, the road condition type of the target road section is comprehensively considered on the basis of the driving mode, the proper torque distribution ratio can be pertinently matched for the target road section, the vehicle can flexibly adjust the torque distribution ratio under the complex road condition, and further the driving performance and the power performance of the vehicle are improved, and meanwhile the vehicle can be effectively guaranteed to work in an optimal energy consumption zone.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart illustrating steps of a torque distribution method according to an embodiment of the present application.

FIG. 2 is a functional block diagram of a torque distribution device according to an embodiment of the present application.

Fig. 3 is a schematic structural view of a vehicle according to an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that, compared with the two-drive system, the four-drive system can distribute the power of the vehicle to the front and rear axles, so that the control and traffic capacity of the vehicle can be greatly improved, and thus, the hybrid electric vehicle or the pure electric vehicle equipped with the four-drive system is increasingly increased.

In the related art, for a vehicle equipped with a four-wheel drive system, it is common to bind a front-rear axle torque distribution strategy with a driving mode. For example, when the user manually selects the driving mode to be Normal (standard mode), ECO (energy saving mode) or the like, the front and rear axle torque distribution is performed by adopting an economy optimization principle; when the user manually selects the driving mode to be the SPORT mode or other modes with higher power demands, the front and rear axle torque distribution is performed by adopting the optimal dynamic principle. That is, it is necessary to select the driving mode by a manual operation by the user, and thus determine the front-rear axle torque distribution strategy.

However, the road conditions are often complex and variable, so that the existing control strategy cannot be applied to all driving situations in the actual driving process. For example, in a congested road condition, a user sets a current driving mode to an ECO mode, but after traveling to a clear road section, a front-rear axle torque distribution strategy in the ECO mode may not meet the power demand of the vehicle; or when the vehicle runs to a smooth road section in the SPORT mode, the vehicle still distributes the front and rear axle torque according to the dynamic priority principle, so that the unnecessary waste of the electric quantity of the whole vehicle is caused.

The front axle torque and rear axle torque adjusting device aims at solving the problem that the existing front axle torque and rear axle torque distribution strategy is single and cannot flexibly adjust the front axle torque and the rear axle torque. The application aims to provide a torque distribution method, a device, a storage medium and a vehicle, which can be used for pertinently matching a proper torque distribution proportion for a target road section by comprehensively considering the road condition type of the target road section on the basis of a driving mode, so that the vehicle can flexibly adjust the torque distribution proportion under complex road conditions, and further the driving performance and the power performance of the vehicle are improved, and meanwhile, the vehicle can be effectively ensured to work in an optimal energy consumption zone.

Referring to FIG. 1, a torque distribution method of the present application is shown, which may specifically include the steps of:

s101: a base torque split ratio is determined based on a current driving mode of the vehicle.

It should be noted that, the execution body of the embodiment may be a computing service device having functions of data processing, network communication and program running, or an electronic device having the above functions, such as a driving computer, a vehicle-mounted computer, and the like. For example, as for an electric-only vehicle, the execution subject may be a VCU (Vehicle Contro lUnit, whole vehicle controller); for a hybrid vehicle, the execution body may be an HCU (Hybrid Contro lUnit, hybrid vehicle body controller), and this embodiment will be described by taking an HCU as an example. The present embodiment is not limited in particular to the type of vehicle.

In the present embodiment, considering that the current driving mode of the vehicle reflects the driving demand of the driver that is the most basic, the HCU will match the corresponding basic torque distribution ratio based on the current driving mode. The basic torque distribution ratio is a preset reference ratio applicable to the current driving mode.

In the present embodiment, different driving modes correspond to different base torque distribution ratios. Among them, the driving mode may include an economy mode, a standard mode, a sport mode, a snowfield mode, a desert mode, an electric mode, and the like. It should be noted that vehicles of different vehicle types may have different driving modes.

In a specific implementation, the HCU stores in advance a first MAP table reflecting a first mapping relationship, where the first mapping relationship characterizes different base torque allocation ratios corresponding to different driving modes; further, after the HCU obtains the current driving mode, the basic torque distribution ratio corresponding to the current driving mode may be determined by means of a MAP table Cha Di.

S102: and determining the road condition type of the target road section based on the navigation information of the target road section.

In this embodiment, the HCU is connected to a map navigation system of the vehicle, and acquires navigation information of a target road section in front of the vehicle in real time through the map navigation system, so as to determine a road condition type of the target road section based on the navigation information. The road condition types can comprise high-speed road sections, urban road sections, mountain road sections, congestion road sections, accident-prone road sections and the like.

It should be noted that the number of the target road segments may be one or more, and different target road segments correspond to different road condition types. For example, based on the navigation information, the navigation route from the current position of the vehicle to the destination may be sequentially divided into a plurality of target segments, for example, the navigation route may be sequentially divided into a congestion segment, an urban segment, and a high-speed segment.

S103: and correcting the basic torque distribution proportion based on the road condition type to obtain a first torque distribution proportion.

In this embodiment, since the drivability requirement and the dynamic requirement of the driver may have different requirements when the vehicle travels on road segments of different road condition types, after determining the road condition type of any target road segment, the HCU will purposefully correct the basic torque distribution ratio based on the road condition type of the target road segment, so as to obtain the first torque distribution ratio applicable to the target road segment.

S104: when the vehicle is traveling to the target road section, the front axle and the rear axle are controlled to output torque based on the first torque distribution ratio.

In this embodiment, since the HCU can obtain the road condition types corresponding to each of the plurality of target road segments in advance, the first torque distribution ratio corresponding to each of the target road segments can be calculated in advance, and when the vehicle travels to a certain target road segment, the torque can be distributed to the front axle and the rear axle of the vehicle according to the first torque distribution ratio corresponding to the target road segment.

The first torque distribution ratio specifically includes a first front axle torque distribution ratio and a first rear axle torque distribution ratio, and the sum of the first front axle torque distribution ratio and the first rear axle torque distribution ratio is 1.

In one example, if the current road section where the vehicle is located is a high-speed road section, the first torque distribution ratio obtained by correcting the base torque distribution ratio based on the high-speed road section is: the torque distribution proportion of the first front axle is P ₁ The first rear axle torque distribution proportion is P ₂ . Since the power demand and energy saving effect of the vehicle are required to be satisfied in the high-speed section, at this time, P will be set ₂ ＞P ₁ Namely, the rear axle driving is the main part; when the vehicle runs from the high-speed road section to the accident-prone road section, the proportion of the basic torque is distributed based on the accident-prone road section to ensure the running safety of the vehicle in order to improve the maneuverability of the vehicleAnd correcting to obtain a first torque distribution ratio: the torque distribution proportion of the first front axle is P _1’ The first rear axle torque distribution proportion is P _2’ . At this time, P will be set _2’ ＜P _1’ I.e. mainly driven by the front axle.

In another example, for a hybrid vehicle with an engine configured for a front axle and a driving motor configured for a rear axle, when the vehicle travels from a urban road section to a congested road section, the torque of the whole vehicle can be transferred to the driving motor of the rear axle, that is, the driving motor is powered by a high-voltage battery, so that the vehicle is driven by the driving motor, and the engine is prevented from working in a working area with low rotation speed and high energy consumption, and the aim of the whole vehicle working in an optimal energy consumption area is fulfilled.

In this embodiment, on the one hand, the basic torque distribution proportion is determined according to the current driving mode of the vehicle, so that a reasonable reference proportion can be provided for front and rear axle torque distribution of the vehicle, and on the other hand, on the basis of the driving mode, road condition types of the current road section are comprehensively considered, so that different front and rear axle torque distribution strategies can be adopted according to different driving modes and different road condition types, the vehicle can flexibly adjust the torque distribution proportion under complex road conditions, and further, the driving performance and the power performance of the vehicle are improved, and meanwhile, the vehicle can be effectively ensured to work in an optimal energy consumption zone.

In a possible embodiment, S103 may specifically include the following substeps:

s103-1: and obtaining a second mapping relation.

In this embodiment, the HCU stores in advance a second MAP table reflecting a second mapping relationship, where the second mapping relationship characterizes different road condition correction parameters corresponding to different road condition types.

S103-2: and determining the target road condition correction parameter based on the second mapping relation and the road condition type.

In this embodiment, after determining the road condition type of the target road section, the HCU reads the second MAP table, and determines the target road condition correction parameter corresponding to the road condition type by using a table look-up method.

It should be noted that the target road condition correction parameter represents the variation of the front axle base torque distribution ratio and the rear axle base torque distribution ratio, and the sum of the variation of the front axle base torque distribution ratio and the rear axle base torque distribution ratio is zero, so as to ensure that the required torque of the whole vehicle is unchanged.

S103-3: and correcting the basic torque distribution proportion based on the target road condition correction parameter to obtain a first torque distribution proportion.

In this embodiment, the basic torque distribution ratio includes a front axle basic torque distribution ratio and a rear axle basic torque distribution ratio, and after the HCU recalculates the target road condition correction parameter, the HCU determines a first front axle torque distribution ratio based on the front axle basic torque distribution ratio and the target road condition correction parameter; meanwhile, determining a first rear axle torque distribution ratio based on the rear axle basic torque distribution ratio and the target road condition correction parameter; and further based on the first front axle torque split ratio and the first rear axle torque split ratio, obtaining a first torque split ratio.

For example, when it is detected that the target road section in front of the vehicle is a high-speed road section, the front axle where the engine is located is required to output more power. At this time, the target road condition correction parameters corresponding to the high-speed road section are: the front axle is increased by 0.2, and the front axle is reduced by 0.2. Further determining the sum of the front axle basic torque distribution ratio and 0.2 as a first front axle torque distribution ratio; and determining the difference between the rear axle basic torque distribution ratio and 0.2 as a first rear axle torque distribution ratio, and further obtaining the first torque distribution ratio based on the first front axle torque distribution ratio and the first rear axle torque distribution ratio. When the vehicle runs to a target road section, controlling a front axle to output torque based on a first front axle torque distribution ratio in the first torque distribution ratios; and controlling the rear axle to output torque based on a first rear axle torque distribution ratio of the first torque distribution ratios.

In one possible embodiment, to further improve the energy saving effect of the vehicle during the driving of the target road section, the torque distribution method may further include the steps of:

s201: and acquiring a third mapping relation and the current residual electric quantity of the power battery.

In this embodiment, the HCU stores in advance a third MAP table reflecting a third mapping relationship, where the third mapping relationship characterizes different electric quantity correction parameters corresponding to different residual electric quantities.

In this embodiment, the HCU is connected to a BMS (battery management system) of the vehicle, and obtains the current remaining power of the power battery in real time through the BMS.

S202: and determining a target electric quantity correction parameter based on the third mapping relation and the current residual electric quantity.

In this embodiment, after the HCU obtains the current remaining power of the power battery, the HCU reads the third MAP table, and determines, by using a table look-up method, the target power correction parameter corresponding to the current remaining power.

In a specific implementation, in order to reduce the calculation amount, the remaining power of the vehicle may be divided into a plurality of power intervals according to actual needs, where different power intervals correspond to different target power correction parameters.

It should be noted that, the target electric quantity correction parameter indicates the variation of the first front axle torque distribution ratio and the first rear axle torque distribution ratio, and the sum of the variation of the first front axle torque distribution ratio and the variation of the first rear axle torque distribution ratio is zero, so as to ensure that the required torque of the whole vehicle is unchanged.

It should be further noted that, for a hybrid vehicle in which an engine is configured for a front axle, the larger the current remaining power, the larger the increase amount of the first rear axle torque distribution ratio corresponding to the target power correction parameter, and the larger the decrease amount of the first front axle torque distribution ratio. That is, the target power correction parameter follows the following change law: the high residual capacity is mainly an electric drive axle, and the low residual capacity is mainly an engine axle. And further, on the premise of ensuring the dynamic property, the vehicle is controlled to run in an optimal energy consumption interval more accurately.

S203: and correcting the first torque distribution ratio based on the target electric quantity correction parameter to obtain a second torque distribution ratio.

In a specific implementation, the HCU corrects the first front axle torque distribution ratio and the first rear axle torque distribution ratio in the first torque distribution ratio based on the target electric quantity correction parameter, so as to obtain a second front axle torque distribution ratio and a second rear axle torque distribution ratio; and further, based on the second front axle torque distribution ratio and the second rear axle torque distribution ratio, obtaining a second torque distribution ratio, and controlling the front axle and the rear axle to output torque according to the second torque distribution ratio.

In this embodiment, on the basis of the driving mode and the road condition type, by further considering the influence of the remaining power of the power battery on the vehicle, the first torque distribution ratio can be corrected in real time based on the current remaining power in the process of driving the vehicle on the target road section, so as to ensure that the vehicle is always in an optimal energy consumption zone in the whole target road section, and further improve the energy saving effect of the vehicle.

In one possible embodiment, to further improve the drivability and the power performance of the vehicle during the driving of the target road section, the torque distribution method may further include the steps of: :

s301: and acquiring a fourth mapping relation and current working condition information of the vehicle.

In this embodiment, during the running of the vehicle, the HCU will also acquire current operating condition information of the vehicle in real time, where the current operating condition information may specifically include information such as an accelerator pedal opening, a current vehicle speed, a road gradient, and/or a steering wheel angle.

In this embodiment, the HCU stores in advance a fourth MAP table reflecting a fourth mapping relationship, where the fourth mapping relationship characterizes different working condition correction parameters corresponding to different working condition information.

It should be noted that, different working condition correction parameters corresponding to the working condition information of different data types are used to represent the degree of influence on the running state of the vehicle in different dimensions.

For example, based on the road grade, it may be identified whether the vehicle is in an uphill or a downhill condition. For example, when the road gradient indicates that the vehicle is traveling in an uphill condition, more torque may be allocated to the rear axle, and at this time, the condition correction parameter corresponding to the road gradient is used to increase the second rear axle torque allocation proportion and decrease the second front axle torque allocation proportion, so as to improve the uphill performance of the vehicle.

For example, based on the steering wheel angle, it may be identified whether the vehicle needs to make a sharp turn. Specifically, the larger the steering wheel angle is, the more torque can be distributed to the rear axle, and at this time, the working condition correction parameter corresponding to the steering wheel angle is used for increasing the second rear axle torque distribution proportion and reducing the second front axle torque distribution proportion so as to improve the maneuverability of the vehicle.

For example, based on the accelerator pedal opening, the acceleration demand of the driver may be identified. Specifically, the larger the accelerator pedal opening, the more torque can be distributed to the engine of the front axle, at this time, the working condition correction parameter corresponding to the accelerator pedal opening is used for increasing the second front axle torque distribution proportion and reducing the second rear axle torque distribution proportion, so as to improve the power output of the vehicle.

For example, based on the current vehicle speed, the driver's power demand may be identified. Specifically, the smaller the current vehicle speed is, the more torque can be distributed to the driving motor of the rear axle, and at this time, the working condition correction parameter corresponding to the current vehicle speed is used for increasing the second rear axle torque distribution proportion and reducing the second front axle torque distribution proportion so as to avoid the engine from working in an inefficient section.

S302: and determining a target working condition correction parameter based on the fourth mapping relation and the current working condition information.

In a specific implementation, under the condition that the current working condition information has a plurality of data types, the HCU determines working condition correction parameters corresponding to the working condition information of each data type based on a fourth MAP table; and further, comprehensively calculating the working condition correction parameters corresponding to the working condition information of each data type, and determining the calculation result as the target working condition correction parameters.

Furthermore, the influence degree of the working condition information of different data types on the running state of the vehicle can be further based on the corresponding influence weight of the working condition information of each data type, and further, the working condition correction parameters corresponding to the working condition information of each data type are weighted and summed to obtain the target working condition correction parameters based on the influence weight corresponding to the working condition information of each data type.

S303: and correcting the second torque distribution ratio based on the target working condition correction parameter to obtain a third torque distribution ratio.

In a specific implementation, the HCU corrects the second front axle torque distribution ratio and the second rear axle torque distribution ratio in the second torque distribution ratio based on the target working condition correction parameter, so as to obtain a third front axle torque distribution ratio and a third rear axle torque distribution ratio; and further, based on the third front axle torque distribution ratio and the third rear axle torque distribution ratio, obtaining a third torque distribution ratio, and controlling the front axle and the rear axle to output torque according to the third torque distribution ratio.

In the embodiment, on the basis of the driving mode, the road condition type and the residual capacity of the power battery, the influence of the working condition information of various data types on the driving performance and the power performance of the vehicle is further comprehensively considered, so that the real-time correction of the first torque distribution proportion can be realized based on the current working condition information in the process of driving the vehicle on the target road section, and the driving performance and the power performance of the vehicle in the whole target road section are further improved.

In one possible embodiment, to ensure the running stability of the vehicle, the torque distribution method may further include the steps of:

S401: and under the condition that the current driving mode and/or the road condition type are/is detected to be changed, determining the updated target torque distribution proportion.

It should be noted that, the residual electric quantity and the working condition information are small in correction amplitude of the current torque distribution proportion of the vehicle, and can be understood as linear fine adjustment; the correction amplitude of the driving mode and the road condition type to the torque distribution proportion is larger, and the nonlinear adjustment can be understood. That is, the change of the driving mode and the road condition type may cause a sudden change of the first torque distribution ratio with a large magnitude, and at this time, the stability of the vehicle is easily poor, for example, phenomena such as rapid acceleration or jerk may be caused.

In this embodiment, in order to avoid the above phenomenon, when the HCU detects that the current driving mode and/or the road condition type is changed, the HCU does not immediately control the torque distribution ratio of the vehicle to be suddenly changed from the first torque distribution ratio to the target torque distribution ratio; the torque gradient change strategy is triggered, so that the gradient change of the torque distribution proportion is realized.

It should be noted that the target torque distribution ratio is determined based on the changed current driving mode and/or the road condition type. Specifically, under the condition that both the base torque distribution ratio and the target torque distribution ratio are changed, a new base torque distribution ratio is determined firstly based on a changed current driving mode, and then the new base torque distribution ratio is corrected based on the road condition type of the changed current driving mode, so that an updated target torque distribution ratio is obtained.

S402: according to a preset torque gradient change strategy, controlling the torque distribution proportion of the vehicle to gradually reach a target torque distribution proportion from a first torque distribution proportion.

In this embodiment, the HCU will first determine a target torque gradient based on a torque gradient change strategy, and then control the torque split ratio of the vehicle to gradually reach the target torque split ratio from the first torque split ratio based on the target torque gradient.

The target torque gradient is smaller than the preset maximum torque gradient. The maximum torque gradient is a gradient value limited by hardware devices such as an engine or a driving motor. By limiting the target torque variation gradient to be smaller than the maximum torque variation gradient, the influence on the running stability and safety of the vehicle caused by the overlarge target torque variation gradient can be effectively avoided.

In this embodiment, the HCU also stores front and rear axle torque limit values, specifically including a front axle torque limit value and a rear axle torque limit value. And when the HCU detects that the target torque of any driving axle in the front and rear axles is larger than the corresponding torque limiting value of the driving axle, the torque limiting value is determined to be the target torque of the driving axle, otherwise, the target torque is kept unchanged. Through setting up front and back axle moment of torsion limiting value, can effectively avoid front and back axle moment of torsion too big and cause the damage to the actuating mechanism of front and back axle, and then guarantee the security of engine and driving motor in the moment of torsion adjustment process.

Specifically, S402 may specifically include the following substeps:

s402-1: and obtaining the whole vehicle required torque of the vehicle.

In this embodiment, the vehicle demand torque represents the torque of the current driving vehicle, and may specifically be calculated based on the opening of the accelerator pedal triggered by the driver.

S402-2: determining the current driving torque of a target driving axle based on the whole vehicle required torque and the first torque distribution proportion; and determining the target driving torque of the target driving axle based on the whole vehicle required torque and the target torque distribution proportion.

The target drive axle represents a drive axle of which the maximum torque adjustment range allowed to be adjusted is small due to the limitation of hardware devices in front and rear axles of the vehicle. Specifically, in the case where the vehicle is a hybrid vehicle including an engine, since torque adjustment of the engine needs to be achieved by adjusting the intake air amount and the oil intake amount, the engine cannot achieve a large amplitude of torque adjustment in a short time, and thus the target drive axle may be set as the drive axle where the engine is located; and under the condition that the vehicle is a pure four-wheel drive vehicle, determining the driving axle where the driving motor with smaller maximum torque adjustment amplitude is located as a target driving axle.

In a specific implementation, taking a target drive axle as a front axle as an example, the HCU determines the product of the required torque of the whole vehicle and the first front axle torque distribution ratio in the first torque distribution ratio as the current driving torque of the target drive axle; and determining the product of the whole vehicle required torque and the target front axle torque distribution ratio in the target torque distribution ratio as the target driving torque of the target driving axle.

S402-3: a target torque variation gradient is determined based on a torque difference between the target driving torque and the current driving torque.

The target torque change gradient indicates a change amount of torque per unit time, and when the target torque change gradient is 100n·m per second per unit time, for example, the target torque change gradient indicates an increase or decrease of 100n·m per second in the front and rear axles of the vehicle.

In a specific implementation, the HCU stores in advance a fifth MAP table reflecting a fifth mapping relationship, where the fifth mapping relationship characterizes different torque variation gradients corresponding to different torque difference values, and the larger the torque difference value, the larger the corresponding torque variation gradient. And further, after the HCU calculates the torque difference value, the target torque change gradient corresponding to the torque difference value can be determined by looking up a fifth MAP table.

S402-4: the torque distribution ratio of the vehicle is controlled to gradually reach the target torque distribution ratio from the first torque distribution ratio based on the target torque variation gradient.

Specifically, after the HCU calculates the target torque gradient, the HCU controls the driving torque of the target drive axle to gradually reach the target driving torque from the current driving torque according to the target torque gradient; and the other drive axle except the target drive axle in the front and rear axles is adjusted step by step according to the negative value of the target torque change gradient.

In one example, the target axle of the vehicle is a front axle configured with an engine, the vehicle is running in a standard mode, the vehicle demand torque is 1000n·m, and the first torque distribution ratio is: first front axle torque split ratio: first rear axle torque split ratio = 5:5, namely, the front axle and the rear axle respectively output 500 N.m. At a certain moment, the driving mode of the driver control vehicle is switched from the standard mode to the sport mode, at the moment, the driver does not press the accelerator pedal, the whole vehicle required torque cannot be suddenly changed immediately, but the torque distribution proportion of the vehicle corresponds to 5 from the first front axle torque distribution proportion: 5 abrupt to 7 corresponding to the target torque split ratio: 3. that is, the front axle as the target drive axle needs to output 700n·m, while the rear axle needs only to output 300n·m. At this time, the difference between the calculated target driving torque of the front axle and the current driving torque is 700n·m-500n·m=200n·m, the target torque change gradient corresponding to 200n·m is obtained by the fifth MAP table, and further, the front axle is controlled to gradually increase from 500n·m to 700n·m and the rear axle is controlled to gradually decrease from 500n·m to 300n·m according to the target torque change gradient of 50n·m by using the adjustment period of 4 seconds.

In this embodiment, when the current driving mode and/or the road condition type are changed, a suitable target torque change gradient is determined, so that torque transfer of the vehicle at the front axle and the rear axle is smoother and more stable, and further phenomena such as rapid acceleration or jerk and the like are effectively avoided, the vehicle is maintained at a stable vehicle speed in the torque adjustment process, and driving experience of a driver is ensured.

In a second aspect, referring to fig. 2, based on the same inventive concept, an embodiment of the present application provides a torque distribution device 200, the torque distribution device 200 including:

a first determination module 201 for determining a base torque distribution ratio based on a current driving mode of the vehicle;

a second determining module 202, configured to determine a road condition type of the target road section based on the navigation information of the target road section;

the first correction module 203 is configured to correct the basic torque distribution ratio based on the road condition type, so as to obtain a first torque distribution ratio;

the first control module 204 is configured to control the front axle and the rear axle to output torque based on the first torque distribution ratio when the vehicle travels to the target road section.

In an embodiment of the present application, the first determining module 201 includes:

the first proportion determining submodule is used for determining a basic torque distribution proportion based on the first mapping relation and the current driving mode.

In an embodiment of the present application, the first correction module 203 includes:

and the first correction submodule is used for correcting the basic torque distribution proportion based on the target road condition correction parameter to obtain a first torque distribution proportion.

In one embodiment of the present application, the torque distribution device 200 further includes:

The second correction submodule is used for correcting the first torque distribution proportion based on the target electric quantity correction parameter to obtain a second torque distribution proportion; the second torque split ratio is used to split torque for the front and rear axles of the vehicle.

the fourth mapping relation acquisition sub-module is used for acquiring a fourth mapping relation and current working condition information of the vehicle; the fourth mapping relation represents different working condition correction parameters corresponding to different working condition information;

the working condition correction parameter determining submodule is used for determining target working condition correction parameters based on the fourth mapping relation and the current working condition information;

the third correction submodule is used for correcting the second torque distribution proportion based on the target working condition correction parameter to obtain a third torque distribution proportion; the third torque split ratio is used to split torque for the front and rear axles of the vehicle.

the distribution proportion updating module is used for determining the updated target torque distribution proportion under the condition that the current driving mode and/or the road condition type are detected to be changed;

In an embodiment of the present application, the allocation proportion adjustment module includes:

the driving torque determining submodule is used for determining the current driving torque of the target driving axle based on the whole vehicle required torque and the first torque distribution proportion; determining a target driving torque of a target driving axle based on the whole vehicle required torque and the target torque distribution proportion; wherein, in the case that the vehicle includes an engine, the target drive axle is the drive axle where the engine is located;

a torque change gradient determination sub-module for determining a target torque change gradient based on a torque difference between a target driving torque and a current driving torque; the target torque change gradient represents the change amount of torque in unit time;

the distribution proportion adjustment sub-module is used for controlling the torque distribution proportion of the vehicle to gradually reach the target torque distribution proportion from the first torque distribution proportion based on the target torque change gradient.

It should be noted that, the specific implementation of the torque distribution device 200 in the embodiment of the present application refers to the specific implementation of the torque distribution method set forth in the first aspect of the embodiment of the present application, and is not described herein again.

In a third aspect, based on the same inventive concept, an embodiment of the present application provides a storage medium having stored therein machine executable instructions that when executed by a processor implement the torque distribution method set forth in the first aspect of the present application.

It should be noted that, the specific implementation manner of the storage medium in the embodiment of the present application refers to the specific implementation manner of the torque distribution method set forth in the first aspect of the embodiment of the present application, and is not described herein again.

In a fourth aspect, based on the same inventive concept, referring to fig. 3, an embodiment of the present application provides a vehicle, including a processor 301 and a memory 302, the memory 302 storing machine executable instructions executable by the processor 301, the processor 301 being configured to execute the machine executable instructions to implement the torque distribution method set forth in the first aspect of the present application.

It will be apparent to those skilled in the art that embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the invention may take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the invention.

Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or terminal device comprising the element.

The foregoing has outlined a detailed description of the torque distribution method, apparatus, storage medium and vehicle of the present invention, wherein specific examples are provided herein to illustrate the principles and embodiments of the present invention, and the above examples are provided to assist in understanding the method and core concepts of the present invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.

Claims

1. A method of torque distribution, the method comprising:

2. The torque distribution method according to claim 1, characterized in that the step of determining the base torque distribution ratio based on the current driving mode of the vehicle includes:

3. The torque distribution method according to claim 1, wherein the step of correcting the base torque distribution ratio based on the road condition type to obtain a first torque distribution ratio includes:

4. The torque distribution method according to claim 1, characterized in that, in a case where the vehicle travels to the target road section, after the step of controlling the front axle and the rear axle for torque output based on the first torque distribution ratio, the method further comprises:

5. The torque distribution method according to claim 4, wherein after the step of correcting the first torque distribution ratio based on the current remaining power to obtain a second torque distribution ratio, the method further comprises:

6. The torque distribution method according to claim 1, characterized in that the method further comprises:

7. The torque distribution method according to claim 6, characterized in that the step of controlling the torque distribution ratio of the vehicle from the first torque distribution ratio to the target torque distribution ratio in accordance with a preset torque gradient change strategy, comprises:

acquiring the whole vehicle required torque of the vehicle;

determining the current driving torque of a target drive axle based on the whole vehicle required torque and the first torque distribution proportion; determining a target driving torque of the target driving axle based on the whole vehicle required torque and the target torque distribution proportion;

8. A torque distribution device, characterized in that the device comprises:

9. A computer readable storage medium having stored therein machine executable instructions which when executed by a processor implement the torque distribution method of any of claims 1-7.

10. A vehicle comprising a processor and a memory, the memory storing machine executable instructions executable by the processor for executing the machine executable instructions to implement the torque distribution method of any of claims 1-7.