Motor torque control method and device, vehicle, storage medium and program product

Abstract

The invention relates to the technical field of vehicles, in particular to a motor torque control method and device, a vehicle, a storage medium and a program product.The method comprises the steps that the actual state and the driving intention at the moment when a vehicle body instability condition is triggered after vehicle gear shifting succeeds are obtained; determining a target torque for keeping the vehicle body stable according to the actual state and the driving intention; and controlling a motor of the vehicle to output the target torque. Therefore, the problems of delayed response, insufficient control precision and the like of a zero-crossing control method in the related technology under special conditions of failure of an electronic stability program and intervention of a traction control system are solved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a motor torque control method, device, vehicle, storage medium and program product. Background Art

[0002] In the powertrain system of pure electric vehicles, the motor is the core power output unit, and its torque output characteristics directly affect the vehicle's acceleration performance, driving stability and energy efficiency. In order to optimize these performances, zero-crossing technology is widely used as a torque smoothing transition technology. The core of this technology is to achieve impact-free gear switching by precisely controlling the motor torque during gear switching or in a specific driving mode. Specifically, the zero-crossing technology can control the motor torque to gradually decrease to zero through an algorithm at the moment of gear switching, and then gradually increase the torque according to the new gear requirements.

[0003] Zero-crossing technology has many advantages, including: smoothness, effectively avoiding the impact of torque mutation during gear switching, providing a smoother driving experience; it can reduce mechanical stress, reduce the mechanical stress on the transmission system and the motor itself, and help extend the service life of vehicle components; it can improve energy efficiency, and the smooth torque transition reduces energy loss, improves the energy efficiency performance of the entire vehicle, and helps to increase the cruising range of electric vehicles; it can enhance driving safety, provide more stable torque control in emergency situations, and reduce the risk of vehicle loss of control due to improper torque control, etc.

[0004] However, the zero-crossing control method of pure electric vehicles usually relies on the synergy of ESP (Electronic Stability Program) and TCS (Traction Control System), but the ESP system may fail due to sensor failure, software error or electrical problem, resulting in failure to provide necessary stability control. Similarly, in some cases, the high coupling between ESP and TCS may cause the overall torque control performance to decline when one system fails. Therefore, in the related art, the zero-crossing control method of pure electric vehicles still has the problems of untimely response and insufficient control accuracy when facing the special situation of ESP failure or TCS intervention. Summary of the invention

[0005] The present application provides a motor torque control method, a vehicle, a storage medium and a program product to solve the problem that the zero-crossing control method of the related art still has poor control stability and insufficient control accuracy when facing the special situation of ESP failure or TCS intervention.

[0006] The first aspect of the present application provides a motor torque control method, comprising the following steps: obtaining the actual state and driving intention of the vehicle at the moment when the body instability condition is triggered after the vehicle shifts successfully; determining the target torque of the vehicle to maintain body stability according to the actual state and driving intention; and controlling the vehicle's motor to output the target torque.

[0007] Optionally, the vehicle body instability condition includes at least one of a vehicle body stability system failure and a traction control system being triggered.

[0008] Optionally, the target torque for maintaining vehicle body stability is determined based on the actual state and driving intention, including: if the vehicle body instability condition is failure of the body stability system, identifying the actual torque of the motor in the actual state, and calculating the driver's required torque based on the driving intention; if the actual torque is greater than or equal to the required torque, the target torque is the required torque; if the actual torque is less than the required torque, the target torque is a torque less than or equal to the actual torque.

[0009] Optionally, the target torque for maintaining vehicle body stability is determined based on the actual state and driving intention, including: if the vehicle body instability condition is that the traction control system is triggered, identifying the traction torque of the traction control system in the actual state, and calculating the driver's required torque based on the driving intention; if the traction torque is greater than or equal to the required torque, the target torque is the required torque; if the traction torque is less than the required torque, the target torque is the traction torque.

[0010] Optionally, after controlling the motor of the vehicle to output the target torque, the method further includes: generating an instability prompt of the vehicle.

[0011] Optionally, according to the motor torque control method of claim 1, it is characterized in that before obtaining the actual state and driving intention at the moment when the vehicle body instability condition is triggered after the vehicle gear shift is successfully triggered, it also includes: obtaining the accelerator pedal opening of the vehicle; determining the driving intention based on the accelerator pedal opening.

[0012] The second aspect of the present application provides a motor torque control device, including: an acquisition module, used to obtain the actual state and driving intention of the vehicle when the body instability condition is triggered after the vehicle shifts successfully; a determination module, used to determine the target torque of the vehicle to maintain body stability according to the actual state and driving intention; a control module, used to control the vehicle's motor to output the target torque.

[0013] A third aspect of the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement a motor torque control method as described in the above embodiment.

[0014] The fourth aspect of the present application provides a computer-readable storage medium having a computer program or instructions stored thereon. When the computer program or instructions are executed, the motor torque control method of the first aspect is implemented.

[0015] The fifth aspect of the present application provides a computer program product, including a computer program or instructions, which, when executed, implements the motor torque control method of the first aspect.

[0016] Therefore, this application includes the following beneficial effects:

[0017] After the vehicle shifts successfully, the embodiment of the present application can obtain the actual state and driving intention at the time of triggering the vehicle body instability condition, and then determine the target torque of the vehicle to maintain the stability of the vehicle body, and control the vehicle's motor to output the target torque, so that when the vehicle body is unstable, the motor can be controlled to output the appropriate torque, effectively improving the stability and control accuracy of the zero-crossing control, and improving the driving experience. Thus, the problem of untimely response and insufficient control accuracy of the zero-crossing control method in the related art when facing the special situation of ESP failure and TCS intervention is solved.

[0018] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0020] Figure 1 A flow chart of a motor torque control method provided according to an embodiment of the present application;

[0021] Figure 2 A line graph showing the comparison of torque before and after optimization in the case of ESP failure according to an embodiment of the present application;

[0022] Figure 3 is an exemplary diagram of a motor torque control device according to an embodiment of the present application;

[0023] Figure 4 It is a schematic diagram of the structure of a vehicle according to an embodiment of the present application. DETAILED DESCRIPTION

[0024] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0025] The following describes a motor torque control method, vehicle, storage medium and program product of an embodiment of the present application with reference to the accompanying drawings. In view of the fact that the zero-crossing control method of the related art mentioned in the above background technology still has the problem of untimely response and insufficient control precision when facing the special situation of ESP failure and TCS intervention, the present application provides a motor torque control method, in which the actual state and driving intention at the moment of triggering the body instability condition after the vehicle shifts successfully are obtained, and then the target torque of the vehicle to maintain body stability is determined, and the motor output target torque of the vehicle is controlled, so that an accurate and fast-responding zero-crossing torque control method can be implemented, thereby improving the stability, responsiveness and safety of pure electric vehicles. As a result, the problem of untimely response and insufficient control precision in the zero-crossing control method of the related art when facing the special situation of ESP failure and TCS intervention is solved.

[0026] Specifically, Figure 1 A flow chart of a motor torque control method provided in an embodiment of the present application.

[0027] like Figure 1 As shown, the motor torque control method includes the following steps:

[0028] In step S101, the actual state and driving intention of the vehicle at the moment when the vehicle body instability condition is triggered after the vehicle shifts successfully are obtained.

[0029] Among them, the body instability conditions will be explained below; the actual state at the moment of body instability conditions is the current relevant state of the vehicle, which may include the ESP state, TCS state, and the actual torque of the vehicle's motor at that moment, the traction torque of the traction control system, etc.; the driving intention may include deceleration, acceleration, and constant speed driving, etc.

[0030] It can be understood that the embodiments of the present application can detect whether the vehicle triggers a body instability condition after the vehicle shifts gears successfully. When the vehicle triggers a body instability condition, it can obtain the actual state at the moment when the body instability condition is triggered, as well as the driving intention at that moment, and can quickly respond to changes in gear switching and vehicle conditions, thereby improving the response speed of the system and ensuring the timeliness of the vehicle's dynamic response.

[0031] In the embodiment of the present application, the vehicle body instability condition includes at least one of a vehicle body stability system failure and a traction control system being triggered.

[0032] Among them, the failure of the body stability system refers to the failure of the ESP installed in the vehicle. ESP can help maintain the stability of the vehicle by adjusting the braking force and engine output of individual wheels when the vehicle oversteers or understeers. When ESP fails, the vehicle will be more likely to lose control in emergency avoidance or on slippery roads. The embodiment of the present application monitors the working status of ESP in real time through the vehicle control unit VCU (Vehicle Control Unit); the traction control system can detect that the speed difference between the driving wheel and the non-driving wheel is too large when the driving wheel loses grip and starts to slip, and take measures to reduce the output torque of the engine or apply braking force to the slipping driving wheel to restore traction and keep the vehicle moving forward stably. The embodiment of the present application monitors the intervention of TCS in real time through the vehicle control unit VCU.

[0033] It is understood that in the embodiment of the present application, the vehicle control unit VCU monitors the working state of ESP and the intervention of TCS in real time. When the vehicle body stability system fails or the traction control system is triggered, it is considered that the body instability condition is met. For example, when the ESP of the vehicle fails, the body is determined to be instability; when the vehicle skids and TCS intervenes, the body is also determined to be instability.

[0034] In an embodiment of the present application, before obtaining the actual state and driving intention at the moment when the vehicle body instability condition is triggered after the vehicle gear shift is successfully triggered, it also includes: obtaining the accelerator pedal opening of the vehicle; determining the driving intention based on the accelerator pedal opening.

[0035] Among them, the accelerator pedal opening is used to control the torque output of the motor in electric vehicles and can be obtained through sensors and other equipment; the larger the accelerator pedal opening, the more the driver wants the vehicle to obtain greater power output, and the driving intention is to accelerate. Conversely, the smaller the accelerator pedal opening, the driving intention is to drive at a constant speed or decelerate, etc. The way to determine the driving intention can be to set the accelerator pedal opening threshold, compare the accelerator pedal opening with the threshold to judge the driving intention, etc., which is not specifically limited here.

[0036] It can be understood that the embodiments of the present application can obtain the vehicle's accelerator pedal opening through sensors and other devices, and determine the driver's driving intention based on the size of the accelerator pedal opening. For example, if the accelerator pedal opening is very large, it is determined that the driver's driving intention is to accelerate. It can adapt to different driving conditions and driver intentions, provide more personalized torque control, and meet the needs of different driving scenarios.

[0037] In step S102 , a target torque for maintaining vehicle body stability is determined according to the actual state and driving intention.

[0038] Among them, torque refers to the rotational torque output by the vehicle's engine or motor. Appropriate torque can help the vehicle maintain body stability.

[0039] It can be understood that the embodiment of the present application, after obtaining the actual state of the vehicle when the body instability condition is triggered after a successful gear shift and determining the driving intention based on the accelerator pedal opening, determines a target torque that can maintain the stability of the vehicle body based on the actual state and driving intention, thereby realizing real-time monitoring of the vehicle state and dynamic adjustment of the torque, thereby improving the stability of the vehicle.

[0040] In an embodiment of the present application, the target torque of the vehicle for maintaining body stability is determined according to the actual state and driving intention, including: if the body instability condition is the failure of the body stability system, the actual torque of the motor in the actual state is identified, and the driver's required torque is calculated according to the driving intention; if the actual torque is greater than or equal to the required torque, the target torque is the required torque; if the actual torque is less than the required torque, the target torque is a torque less than or equal to the actual torque.

[0041] The actual torque of the motor refers to the torque actually generated by the motor under current operating conditions.

[0042] It can be understood that if the vehicle body becomes unstable after a successful gear shift, and the condition for the vehicle body instability is that the vehicle body stability system fails, the embodiment of the present application can calculate the required torque through the driver's driving intention, and identify the actual torque of the motor under the actual state, and compare it with the driver's required torque. When the actual torque is greater than or equal to the required torque, the required torque is used as the target torque; when the actual torque is less than the required torque, the torque less than or equal to the actual torque is used as the target torque.

[0043] For example, when the driver is trying to change lanes quickly and the body stability system fails, it is calculated based on the driver's driving intention that a required torque of 160 N·m is needed to help the vehicle regain stability. The actual torque provided by the motor in the current state is 180 N·m, which is greater than the required torque, and the target torque is set to the required torque of 160 N·m. Based on the driver's driving intention, it is calculated that a required torque of 200 N·m is needed to help the vehicle regain stability. The actual torque provided by the motor in the current state is 180 N·m, which is less than the required torque. The target torque is set to be equal to the actual torque of 180 N·m or less.

[0044] In an embodiment of the present application, a target torque for maintaining vehicle body stability is determined according to an actual state and driving intention, including: if the vehicle body instability condition is that the traction control system is triggered, the traction torque of the traction control system in the actual state is identified, and the driver's required torque is calculated according to the driving intention; if the traction torque is greater than or equal to the required torque, the target torque is the required torque; if the traction torque is less than the required torque, the target torque is the traction torque.

[0045] Among them, traction torque refers to the torque transmitted to the wheels and converted into the vehicle's forward power.

[0046] It can be understood that if the vehicle body becomes unstable after a successful gear shift, and the condition for the vehicle body instability is that the traction control system is triggered, the embodiment of the present application can calculate the required torque through the driver's driving intention, and identify the traction torque of the traction control system in the actual state, and compare it with the driver's required torque. When the traction torque is greater than or equal to the required torque, the required torque is used as the target torque; when the traction torque is less than the required torque, the traction torque is used as the target torque.

[0047] For example, when the driver is trying to change lanes quickly and the traction control system is triggered, it is calculated based on the driver's driving intention that a required torque of 160 N·m is needed to help the vehicle regain stability. In the current state, the traction torque of the traction control system is 180 N·m, which is greater than the required torque, and the target torque is set to the required torque of 160 N·m; based on the driver's driving intention, it is calculated that a required torque of 200 N·m is needed to help the vehicle regain stability. In the current state, the traction torque of the traction control system is 180 N·m, which is less than the required torque, and the target torque is set to the traction torque of 180 N·m.

[0048] In step S103 , the motor of the vehicle is controlled to output the target torque.

[0049] It can be understood that after obtaining the target torque that can maintain the stability of the vehicle body, the embodiment of the present application can control the motor to output the target torque to maintain the stability of the vehicle body.

[0050] In the embodiment of the present application, after controlling the motor of the vehicle to output the target torque, it also includes: generating an instability prompt of the vehicle.

[0051] Among them, instability prompts can be given through voice broadcast modules inside the vehicle, vehicle-mounted display screens and other devices, and are not specifically limited here.

[0052] It can be understood that after controlling the vehicle's motor to output the target torque, the embodiment of the present application can broadcast or display instability prompts through a voice broadcast module or an on-board display screen. For example, when an emergency lane change is performed, causing the vehicle to skid during the lane change and the traction control system is triggered, the vehicle's voice broadcast module broadcasts prompt statements such as "vehicle instability", which makes it easier for the driver to understand the current vehicle condition and judge the next operation, thereby improving safety.

[0053] According to the motor torque control method proposed in the embodiment of the present application, after the vehicle shifts gears successfully, the actual state and driving intention at the moment when the vehicle body instability condition is triggered can be obtained, and then the target torque of the vehicle to maintain body stability can be determined, and the vehicle's motor output target torque can be controlled. Therefore, when the vehicle body is unstable, the motor can be controlled to output appropriate torque, thereby effectively improving the stability and control accuracy of zero-crossing control and improving the driving experience.

[0054] The following describes the motor torque control method proposed in the embodiment of the present application through a specific embodiment, which will be divided into two parts, describing the motor torque control method in two situations: ESP failure and TCS intervention.

[0055] The conditional background of this embodiment is: a pure electric vehicle switches from R gear to D gear. After the switch is successful, the driver immediately outputs a large throttle. At this time, conditions such as ESP failure, vehicle skidding, or TCS triggering occur.

[0056] First, the motor torque control method of this embodiment when the ESP fails is described.

[0057] Monitoring and response to ESP failure: The system monitors the working status of ESP in real time. Once ESP failure is detected, the system immediately starts the backup torque control strategy and adjusts the actual torque change trend. If the demand torque has dropped at this time, the optimization strategy will cause the actual torque to rise for a period of time due to factors such as torque filtering. At this time, due to ESP failure or slippage, the speed will rise greatly. If the actual torque cannot be reduced in time, it will easily cause the motor to over-discharge. The embodiment of the present application proposes that when ESP failure is detected, it directly keeps up with the demand or waits for the demand to drop, avoiding the situation where the torque will rise after slippage or ESP failure, so as to adapt to the dynamic changes after ESP failure, such as Figure 2 As shown, the vehicle stability is ensured.

[0058] Next, the motor torque control method of this embodiment with TCS intervention is described.

[0059] Monitoring and torque matching of TCS intervention: The system monitors the intervention of TCS at the same time. When TCS intervenes, the system dynamically adjusts the torque output of the motor according to the intervention torque of TCS to match the intervention of TCS and maintain the traction and stability of the vehicle. During the torque zero-crossing control process, if TCS intervenes and its intervention torque is greater than the torque when the vehicle switches, the system will intelligently adjust the torque output of the motor according to the relationship between the actual required torque and the TCS torque. If the original required torque is less than the TCS torque, the torque of the motor will directly keep up with the required torque; if the original required torque is greater than the TCS torque, the actual torque of the motor will directly keep up with the TCS torque, and wait until the required torque drops before keeping up with the required torque, which can effectively solve the drivability problems caused by TCS triggering during zero crossing, thereby improving the vehicle's drivability and driving smoothness.

[0060] Application of torque matching algorithm: The system runs a torque matching algorithm that takes into account the vehicle's real-time state and driving intention to calculate and output the optimal motor torque. The algorithm ensures that the torque output matches the vehicle's needs while taking into account vehicle dynamics and motor characteristics.

[0061] Gear shifting completed and torque restored: Under the precise control of the system, the vehicle successfully completes the gear shifting and the torque smoothly transitions to zero. Subsequently, the system gradually increases the torque output according to the new gear and driving conditions to restore the vehicle to normal driving state.

[0062] Driving feedback and system optimization: The system collects feedback information during the driving process, such as the driver's operating habits, vehicle response, etc., to further optimize the torque control strategy and improve control accuracy and driving experience.

[0063] Figure 3 It is a block diagram of a motor torque control device according to an embodiment of the present application.

[0064] like Figure 3 As shown, the motor torque control device 10 includes: an acquisition module 301 , a determination module 302 and a control module 303 .

[0065] Among them, the acquisition module 301 is used to obtain the actual state and driving intention of the vehicle when the body instability condition is triggered after the vehicle shifts successfully; the determination module 302 is used to determine the target torque of the vehicle to maintain body stability according to the actual state and driving intention; the control module 303 is used to control the vehicle's motor to output the target torque.

[0066] In an embodiment of the present application, before obtaining the actual state and driving intention at the moment when the vehicle body instability condition is triggered after the vehicle gear shift is successfully triggered, it includes: obtaining the accelerator pedal opening of the vehicle; and determining the driving intention based on the accelerator pedal opening.

[0067] In the embodiment of the present application, the vehicle body instability condition includes at least one of a vehicle body stability system failure and a traction control system being triggered.

[0068] In the embodiment of the present application, the determination module 302 is further used to: if the vehicle body instability condition is the failure of the vehicle body stability system, then identify the actual torque of the motor in the actual state, and calculate the driver's required torque according to the driving intention; if the actual torque is greater than or equal to the required torque, then the target torque is the required torque; if the actual torque is less than the required torque, then the target torque is a torque less than or equal to the actual torque.

[0069] In the embodiment of the present application, the determination module 302 is further used to: if the vehicle body instability condition is that the traction control system is triggered, then identify the traction torque of the traction control system in the actual state, and calculate the driver's required torque according to the driving intention; if the traction torque is greater than or equal to the required torque, then the target torque is the required torque; if the traction torque is less than the required torque, then the target torque is the traction torque.

[0070] In the embodiment of the present application, the motor torque control device 10 further includes a prompt module, wherein the prompt module is further configured to generate a vehicle instability prompt after controlling the motor of the vehicle to output the target torque.

[0071] It should be noted that the above explanation of the motor torque control method embodiment is also applicable to the motor torque control device of this embodiment, and will not be repeated here.

[0072] According to the motor torque control device proposed in the embodiment of the present application, through the coordinated action of the acquisition module, the determination module and the control module, it is possible to obtain the actual state and driving intention of the vehicle when the body instability condition is triggered after the vehicle shifts successfully, and then determine the target torque of the vehicle to maintain body stability, ensuring that precise torque control can still be achieved when these systems fail or delay intervention, thereby improving the stability, responsiveness and safety of pure electric vehicles.

[0073] Figure 4 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0074] Memory 401 , processor 402 , and a computer program stored in the memory 401 and executable on the processor 402 .

[0075] When the processor 402 executes the program, the motor torque control method provided in the above embodiment is implemented.

[0076] Furthermore, the vehicle also includes:

[0077] The communication interface 403 is used for communication between the memory 401 and the processor 402 .

[0078] The memory 401 is used to store computer programs that can be executed on the processor 402 .

[0079] The memory 401 may include a high-speed RAM (Random Access Memory) memory, and may also include a non-volatile memory, such as at least one disk memory.

[0080] If the memory 401, the processor 402 and the communication interface 403 are implemented independently, the communication interface 403, the memory 401 and the processor 402 can be connected to each other through a bus and communicate with each other. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0081] Optionally, in a specific implementation, if the memory 401, the processor 402 and the communication interface 403 are integrated on a chip, the memory 401, the processor 402 and the communication interface 403 can communicate with each other through an internal interface.

[0082] The processor 402 may be a CPU (Central Processing Unit), or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application.

[0083] An embodiment of the present application also provides a computer-readable storage medium on which a computer program or instruction is stored. When the computer program or instruction is executed, the above-mentioned motor torque control method is implemented.

[0084] An embodiment of the present application also provides a computer program product, including a computer program or instructions, which, when executed, implements the above-mentioned motor torque control method.

[0085] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0086] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0087] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0088] It should be understood that the various parts of the present application can be implemented in hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, the steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array, a field programmable gate array, etc.

[0089] A person of ordinary skill in the art may understand that all or part of the steps carried by the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the above-mentioned program may be stored in a computer-readable storage medium, which, when executed, includes one of the steps of the method embodiment or a combination thereof.

[0090] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A motor torque control method, characterized in that: The following steps are involved: Obtain the actual state and driving intention of the vehicle when the vehicle body instability condition is triggered after the gear shift is successful; determining a target torque for the vehicle to maintain vehicle body stability according to the actual state and the driving intention; A motor of the vehicle is controlled to output the target torque.

2. The motor torque control method according to claim 1, characterized in that: The vehicle body instability condition includes at least one of a vehicle body stability system failure and a traction control system being triggered.

3. The motor torque control method according to claim 2, characterized in that: The determining, according to the actual state and the driving intention, a target torque for maintaining vehicle body stability includes: If the vehicle body instability condition is a failure of a vehicle body stability system, identifying an actual torque of the motor in the actual state, and calculating a driver's required torque according to the driving intention; If the actual torque is greater than or equal to the required torque, the target torque is the required torque; If the actual torque is less than the required torque, the target torque is a torque less than or equal to the actual torque.

4. The motor torque control method according to claim 2, characterized in that: The determining, according to the actual state and the driving intention, a target torque for maintaining vehicle body stability includes: If the vehicle body instability condition is that the traction control system is triggered, identifying the traction torque of the traction control system in the actual state, and calculating the driver's required torque according to the driving intention; If the traction torque is greater than or equal to the required torque, the target torque is the required torque; If the traction torque is less than the required torque, the target torque is the traction torque.

5. The motor torque control method according to claim 1, characterized in that: After controlling the motor of the vehicle to output the target torque, the method further includes: An instability prompt of the vehicle is generated.

6. The motor torque control method according to claim 1, characterized in that: Before obtaining the actual state and driving intention of the vehicle when the vehicle body instability condition is triggered after the vehicle shifts successfully, it also includes: Obtaining the accelerator pedal opening of the vehicle; The driving intention is determined according to the accelerator pedal opening.

7. A motor torque control device, characterized in that: include: An acquisition module is used to acquire the actual state and driving intention of the vehicle when the vehicle body instability condition is triggered after the vehicle shifts successfully; A determination module, configured to determine a target torque for maintaining vehicle body stability according to the actual state and the driving intention; A control module is used to control the motor of the vehicle to output the target torque.

8. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the motor torque control method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program or instruction stored thereon, characterized in that: When the computer program or instruction is executed, the motor torque control method according to any one of claims 1 to 6 is implemented.

10. A computer program product comprising a computer program or instructions, characterized in that When the computer program or instruction is executed, the motor torque control method according to any one of claims 1 to 6 is implemented.

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