Torque distribution method, device, equipment, storage medium and program product

The invention relates to a torque distribution method and device, equipment, a storage medium and a program product. The method comprises the following steps: acquiring motion state information and required torque of a vehicle; determining a longitudinal torque distribution coefficient, a vertical pitching composite control torque and a roll control torque based on a preset control weight, pre-acquired vehicle parameter information and the motion state information; performing torque distribution based on the demand torque, the longitudinal torque distribution coefficient, the vertical pitching composite control torque and the roll control torque to obtain a torque distribution strategy; and distributing torques of a plurality of hub motors of the vehicle based on the torque distribution strategy. By adopting the method, the vibration of the hub-driven vehicle can be reduced. 本申请涉及一种转矩分配方法、装置、设备、存储介质和程序产品。所述方法包括：获取车辆的运动状态信息以及需求转矩；基于预设控制权重、预先获取到的车辆参数信息以及所述运动状态信息确定纵向转矩分配系数、垂向俯仰复合控制转矩以及侧倾控制转矩；基于所述需求转矩、所述纵向转矩分配系数、