Vehicle torque filtering method, device, storage medium and vehicle

Abstract

The present disclosure relates to a vehicle torque filtering method, device, storage medium and vehicle, and relates to the field of vehicle technology. The method determines whether the current motor torque of a motor is in a transition area. When the current motor torque of the motor is in the transition area, a corrected torque gradient of the transition area is obtained according to the torque gradient corresponding to the torque interval where the current motor torque is located, the position information of the current motor torque in the torque interval and the torque gradient corresponding to the next torque interval of the torque interval, so that the current motor torque can smoothly transition to the next torque interval, and the torque request in the transition area can also be smoothly output, thereby ensuring the smoothness of vehicle driving.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle technology, and in particular, to a vehicle torque filtering method, device, storage medium and vehicle. Background Art

[0002] In the related art, the torque filtering of hybrid vehicles and pure electric vehicles mainly divides the requested torque into fixed torque gradients. No matter what working conditions the vehicle is working in, it will load or reduce the torque with a fixed torque gradient before the requested torque is reached. For example, the torque is divided into three sections, including low, medium and high sections, and the torque gradient of each section is different. However, this torque filtering method will cause an imbalance in the torque request during the transition stage. For example, when transitioning from the low torque range to the medium torque range, the torque gradient changes greatly, resulting in an imbalance in the torque request. Summary of the invention

[0003] The purpose of the present disclosure is to provide a vehicle torque filtering method, device, storage medium and vehicle to partially solve the above technical problems.

[0004] According to a first aspect of an embodiment of the present disclosure, a vehicle torque filtering method is provided, comprising:

[0005] Dividing the torque working area of ​​the motor into a plurality of torque intervals, and each of the torque intervals corresponds to a different torque gradient;

[0006] When the current motor torque of the motor is in the transition region, a corrected torque gradient of the transition region is obtained according to the torque gradient corresponding to the torque interval where the current motor torque is located, the position information of the current motor torque in the torque interval, and the torque gradient corresponding to the next torque interval of the torque interval, wherein the transition region represents a region transitioning from one torque interval to the next torque interval;

[0007] The output torque of the motor is determined according to the corrected torque gradient.

[0008] In some embodiments, whether the current motor torque of the motor is in the transition region is determined by the following steps:

[0009] Determining a torque interval in which the current motor torque is located according to the current motor torque of the motor and the current requested torque;

[0010] According to the current motor torque of the motor and the interval value of the torque interval in which the current motor torque is located, obtaining the position information of the current motor torque in the torque interval;

[0011] When the position information is greater than a preset threshold, it is determined that the current motor torque of the motor is in the transition region.

[0012] In some embodiments, obtaining the position information of the current motor torque in the torque interval according to the current motor torque of the motor and the interval value of the torque interval in which the current motor torque is located includes:

[0013] According to the current motor torque of the motor and the interval value of the torque interval where the current motor torque is located, combined with a first preset calculation formula, the position information of the current motor torque in the torque interval is calculated, wherein the first preset calculation formula is:

[0014]

[0015] Wherein, A is the position information, T1 is the current motor torque of the motor, T2 is the lower limit value of the torque interval where the current motor torque is located, and T3 is the upper limit value of the torque interval where the current motor torque is located.

[0016] In some embodiments, determining the torque interval of the current motor torque according to the current motor torque and the current requested torque of the motor includes:

[0017] determining a vehicle torque demand according to a difference between the current motor torque and the current requested torque, wherein the vehicle torque demand comprises a torque loading demand or a torque unloading demand;

[0018] A torque range in which the current motor torque is located is determined according to the vehicle torque demand and the current motor torque.

[0019] In some embodiments, the plurality of torque intervals include:

[0020] Low torque range, zero torque range and high torque range.

[0021] In some embodiments, the step of obtaining the corrected torque gradient of the transition region according to the torque gradient corresponding to the torque interval in which the current motor torque is located, the position information of the current motor torque in the torque interval, and the torque gradient corresponding to the next torque interval of the torque interval includes:

[0022] According to the torque gradient corresponding to the torque interval where the current motor torque is located, the position information of the current motor torque in the torque interval and the torque gradient corresponding to the next torque interval of the torque interval, a corrected torque gradient of the transition area is obtained in combination with a second preset calculation formula, wherein the second preset calculation formula is:

[0023] G1=G2*(1-A)+G3*A

[0024] Among them, G1 is the corrected torque gradient, G2 is the torque gradient corresponding to the torque interval where the current motor torque is located, A is the position information, and G3 is the torque gradient corresponding to the next torque interval of the torque interval.

[0025] According to a second aspect of an embodiment of the present disclosure, a vehicle torque filtering device is provided, comprising:

[0026] A torque partitioning module, used for dividing the torque working area of ​​the motor into a plurality of torque intervals, and each of the torque intervals corresponds to a different torque gradient;

[0027] a correction module, configured to obtain a correction torque gradient of the transition region when the current motor torque of the motor is in the transition region according to the torque gradient corresponding to the torque interval where the current motor torque is located, the position information of the current motor torque in the torque interval, and the torque gradient corresponding to the next torque interval of the torque interval, wherein the transition region represents a region transitioning from one torque interval to the next torque interval;

[0028] An output module is used to determine the output torque of the motor according to the corrected torque gradient.

[0029] In some embodiments, the correction module includes:

[0030] The torque correction unit is used to obtain the corrected torque gradient of the transition area according to the torque gradient corresponding to the torque interval where the current motor torque is located, the position information of the current motor torque in the torque interval, and the torque gradient corresponding to the next torque interval of the torque interval, in combination with a second preset calculation formula, wherein the second preset calculation formula is:

[0031] G1=G2*(1-A)+G3*A

[0032] Among them, G1 is the corrected torque gradient, G2 is the torque gradient corresponding to the torque interval where the current motor torque is located, A is the position information, and G3 is the torque gradient corresponding to the next torque interval of the torque interval.

[0033] According to a third aspect of an embodiment of the present disclosure, a non-temporary computer-readable storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the steps of the vehicle torque filtering method described in the first aspect are implemented.

[0034] According to a fourth aspect of an embodiment of the present disclosure, a vehicle is provided, comprising:

[0035] a memory having a computer program stored thereon;

[0036] A processor is used to execute the computer program in the memory to implement the steps of the vehicle torque filtering method described in the first aspect.

[0037] Based on the above technical solution, by judging whether the current motor torque of the motor is in the transition area, when the current motor torque of the motor is in the transition area, the corrected torque gradient of the transition area is obtained according to the torque gradient corresponding to the torque interval where the current motor torque is located, the position information of the current motor torque in the torque interval, and the torque gradient corresponding to the next torque interval of the torque interval, so as to determine the output torque of the motor in the transition area according to the corrected torque gradient. By correcting the torque gradient in the transition area from one torque interval to the next torque interval, the current motor torque can smoothly transition from the current torque interval to the next torque interval, and the torque request in the transition area can also be smoothly output, so as to ensure the smoothness of vehicle driving.

[0038] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0040] Figure 1 is a flow chart of a vehicle torque filtering method provided according to an exemplary embodiment;

[0041] Figure 2 is a schematic diagram of a torque range provided according to an exemplary embodiment;

[0042] Figure 3 is a schematic diagram of a transition region provided according to an exemplary embodiment;

[0043] Figure 4 is a flow chart for determining whether the current motor torque is in a transition region according to an exemplary embodiment;

[0044] Figure 5 It is a logical structure diagram of a vehicle torque filtering device provided according to an exemplary embodiment. DETAILED DESCRIPTION

[0045] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0046] Figure 1 FIG. 1 is a flow chart of a vehicle torque filtering method according to an exemplary embodiment. Figure 1 As shown, the vehicle torque filtering method provided by the embodiment of the present disclosure can be applied to vehicles, including but not limited to hybrid vehicles and pure electric vehicles. The method comprises the following steps:

[0047] In step 110 , the torque operating region of the motor is divided into a plurality of torque intervals, and each of the torque intervals corresponds to a different torque gradient.

[0048] Here, the torque working area of ​​the motor is divided into a plurality of torque intervals, and each torque interval corresponds to a torque gradient.

[0049] Figure 2 is a schematic diagram of a torque range provided according to an exemplary embodiment. Figure 2 As shown in the figure, the torque working area of ​​the motor is divided into three torque intervals, including a low torque interval, a zero torque interval, and a high torque interval. Among them, since the motor is divided into positive torque and negative torque, when dividing the torque interval, the rising gradient can be divided into a low torque interval, a zero torque interval, and a high torque interval, and the descending gradient can also be divided into a low torque interval, a zero torque interval, and a high torque interval. In each torque interval, the torque gradient is different, such as Figure 2 The slope of each torque interval in is different. Among them, the unfiltered torque request is as follows Figure 2 As shown in Figure 1, the unfiltered torque request curve is abrupt, that is, it changes directly from one torque to the next, resulting in an uneven torque output of the vehicle. Figure 2 The filtered torque request in the embodiment gradually increases or decreases the output torque of the vehicle through multiple torque intervals, thereby ensuring the smoothness of the vehicle torque output.

[0050] It is worth noting that, for the rising gradient and the falling gradient, the slopes in the same interval are consistent, for example, the slope of the high torque interval of the rising gradient is consistent with the slope of the high torque interval of the falling gradient.

[0051] It should be understood that, in practical applications, the torque functional area of ​​the motor is not limited to being divided into three sections, but may also be divided into other numbers of torque intervals, such as five sections, six sections, etc.

[0052] In step 120, when the current motor torque of the motor is in the transition area, the corrected torque gradient of the transition area is obtained according to the torque gradient corresponding to the torque interval where the current motor torque is located, the position information of the current motor torque in the torque interval, and the torque gradient corresponding to the next torque interval of the torque interval, wherein the transition area represents the area transitioning from one torque interval to the next torque interval.

[0053] Here, the transition region refers to a region transitioning from one torque interval to the next torque interval. The transition region can be understood as a region where the torque gradient changes significantly. Figure 3 is a schematic diagram of a transition region provided according to an exemplary embodiment. Figure 3 As shown, the transition region may be a transition from a low torque interval to a zero torque interval, such as Figure 3 In addition, the transition area can also be a transition from the zero torque interval to the low torque interval.

[0054] The current motor torque may refer to the torque after the last motor request torque has been torque filtered. When the current motor torque is in the transition region, the corrected torque gradient of the transition region is calculated based on the torque interval where the current motor torque is located, the position information of the current motor torque in the torque interval, and the torque gradient corresponding to the next torque interval of the torque interval. For example, when the current motor torque is in the low torque interval and in the transition region from the low torque interval to the zero torque interval, the corrected torque gradient is calculated based on the torque gradient of the low torque interval, the torque gradient of the zero torque interval, and the position information of the low torque interval.

[0055] Among them, the position information of the current motor torque in the torque interval refers to the position of the current motor torque in the torque interval. For example, it is in the middle of the torque interval, or at the intersection of one torque interval and the next torque interval. In some examples, the position information of the current motor torque in each torque interval can be calculated by the virtual pedal value. Among them, each torque can be divided into a virtual pedal value from 0% to 100%. When the virtual pedal value is 50%, it means that the current motor torque is in the middle of the torque interval. When the virtual pedal value is 100%, it means that the current motor torque is at the intersection of one torque interval and the next torque interval. The corrected torque gradient refers to the corrected torque gradient in the transition area, which is used to enable a torque interval to smoothly transition to the next torque interval, so that the torque output of the vehicle is smoother.

[0056] In step 130 , the output torque of the motor is determined according to the corrected torque gradient.

[0057] Here, after the corrected torque gradient of the transition region is calculated, the output torque of the motor can be determined according to the corrected torque gradient. In some embodiments, the output torque of the motor = current motor torque + motor request torque * corrected torque gradient * system time. The system time refers to the duration of the corrected torque gradient, which can be obtained by integrating the corrected torque gradient over the duration.

[0058] It should be understood that when the current motor torque is not in the transition region, the output torque is calculated by the torque gradient of the torque interval in which the current motor torque is located.

[0059] Therefore, by judging whether the current motor torque of the motor is in the transition area, when the current motor torque of the motor is in the transition area, the corrected torque gradient of the transition area is obtained according to the torque gradient corresponding to the torque interval where the current motor torque is located, the position information of the current motor torque in the torque interval and the torque gradient corresponding to the next torque interval of the torque interval, so that the current motor torque can smoothly transition to the next torque interval, and the torque request in the transition area can also be smoothly output, thereby ensuring the smoothness of vehicle driving.

[0060] Figure 4 FIG. 1 is a flow chart for determining whether the current motor torque is in a transition region according to an exemplary embodiment. Figure 4 As shown, in some achievable implementations, it can be determined whether the current motor torque is in the transition region through the following steps.

[0061] In step 210 , a torque interval in which the current motor torque is located is determined according to the current motor torque of the motor and the current requested torque.

[0062] Here, the current motor torque refers to the torque obtained after filtering the last requested torque, and the current requested torque refers to the torque currently requested by the entire vehicle.

[0063] In some embodiments, the vehicle torque demand may be determined based on the difference between the current motor torque and the current requested torque, wherein the vehicle torque demand includes a torque loading demand or a torque load reduction request. Then, based on the vehicle torque demand and the current motor torque, the torque interval in which the current motor torque is located is determined.

[0064] Here, the torque loading requirement refers to the positive torque output by the motor. If the difference between the current motor torque and the current requested torque is negative, it means that the vehicle has a torque loading requirement. Figure 2 The rising gradient in the torque loading requirement is that the motor outputs negative torque. If the difference between the current motor torque and the current requested torque is positive, it means that the vehicle has a torque load reduction requirement. Among them, the torque load reduction requirement corresponds to Figure 2 When it is determined that the current motor torque is in an ascending gradient or a descending gradient according to the vehicle torque demand, it is then determined in which interval of the ascending gradient or the descending gradient the current motor torque is in according to the current motor torque.

[0065] In step 220 , position information of the current motor torque in the torque interval is obtained according to the current motor torque of the motor and the interval value of the torque interval in which the current motor torque is located.

[0066] Here, after determining the torque interval where the current motor torque is located, the virtual pedal value of the current motor torque in the torque interval is calculated according to the current motor torque of the motor and the interval value of the torque interval. The virtual pedal value reflects the position information of the current motor torque in the corresponding torque interval.

[0067] In some embodiments, in step 220, obtaining the position information of the current motor torque in the torque interval according to the current motor torque of the motor and the interval value of the torque interval in which the current motor torque is located may include:

[0068] According to the current motor torque of the motor and the interval value of the torque interval where the current motor torque is located, combined with a first preset calculation formula, the position information of the current motor torque in the torque interval is calculated, wherein the first preset calculation formula is:

[0069]

[0070] Wherein, A is the position information, T1 is the current motor torque of the motor, T2 is the lower limit value of the torque interval where the current motor torque is located, and T3 is the upper limit value of the torque interval where the current motor torque is located.

[0071] Here, the position information of the current motor torque in the corresponding torque interval is calculated based on the current motor torque and the interval value of the torque interval where the current motor torque is located. For example, when the current motor torque is in the low torque interval of the rising gradient, the position information of the current motor torque = (current motor torque-lower limit value of the low torque interval) / (upper limit value of the low torque interval-lower limit value of the low torque interval). When the current motor torque is in the zero-crossing torque interval of the rising gradient, the position information of the current motor torque = (current motor torque-lower limit value of the zero-crossing torque interval) / (upper limit value of the zero-crossing torque interval-lower limit value of the zero-crossing torque interval). When the current motor torque is in the high torque interval of the rising gradient, the position information of the current motor torque = (current motor torque-lower limit value of the high torque interval) / (upper limit value of the high torque interval-lower limit value of the high torque interval). Assuming that the low torque interval is [-100, -10], when the current motor torque is -20, the virtual pedal value of the current motor torque in the low torque interval is approximately equal to 89%.

[0072] It should be understood that when the current motor torque is in a descending gradient, the calculation method of its position information is consistent with the calculation method of the ascending gradient.

[0073] In step 230 , when the position information is greater than a preset threshold, it is determined that the current motor torque of the motor is in the transition region.

[0074] Here, the position information of the current motor torque in the torque interval can be represented by a virtual pedal value, and when the position information is greater than a preset threshold, it is determined that the current motor torque is in the transition area. For example, the preset threshold can be 90%, and when the virtual pedal value corresponding to the position information is greater than 90%, it is determined that the current motor torque is in the transition area.

[0075] Therefore, by calculating the position information based on the current motor torque of the motor and the interval value of the torque interval in which the current motor torque is located, it is possible to accurately determine whether the current motor torque of the motor is in the transition area. The position information can respond to changes according to the motor temperature and / or the capacity of the power battery, thereby ensuring that the calculated position information can reflect the actual position of the current motor torque in the torque interval.

[0076] In some achievable implementations, in step 120, the corrected torque gradient of the transition area is obtained according to the torque gradient corresponding to the torque interval in which the current motor torque is located, the position information of the current motor torque in the torque interval, and the torque gradient corresponding to the next torque interval of the torque interval, including:

[0077] According to the torque gradient corresponding to the torque interval where the current motor torque is located, the position information of the current motor torque in the torque interval and the torque gradient corresponding to the next torque interval of the torque interval, a corrected torque gradient of the transition area is obtained in combination with a second preset calculation formula, wherein the second preset calculation formula is:

[0078] G1=G2*(1-A)+G3*A

[0079] Among them, G1 is the corrected torque gradient, G2 is the torque gradient corresponding to the torque interval where the current motor torque is located, A is the position information, and G3 is the torque gradient corresponding to the next torque interval of the torque interval.

[0080] Here, the corrected torque gradient is calculated based on the torque gradient corresponding to the torque interval where the current motor torque is located, the position information of the current motor torque in the torque interval, and the torque gradient corresponding to the next torque interval of the torque interval. For example, when the current motor torque is in the transition area from the low torque interval to the zero torque interval, the corrected torque gradient = the torque gradient of the low torque interval * (1-the position information of the current motor torque in the low torque interval) + the torque gradient of the zero torque interval * the position information of the current motor torque in the low torque interval. When the current motor torque is in the transition area from the zero torque interval to the high torque interval, the corrected torque gradient = the torque gradient of the zero torque interval * (1-the position information of the current motor torque in the zero torque interval) + the torque gradient of the high torque interval * the position information of the current motor torque in the zero torque interval.

[0081] Figure 5 FIG. 1 is a schematic diagram of the logical structure of a vehicle torque filtering device provided according to an exemplary embodiment. Figure 5 As shown, the vehicle torque filtering device comprises:

[0082] The torque partitioning module 1301 is used to divide the torque working area of ​​the motor into a plurality of torque intervals, and each of the torque intervals corresponds to a different torque gradient;

[0083] A correction module 1302 is used to obtain a correction torque gradient of the transition area when the current motor torque of the motor is in the transition area according to the torque gradient corresponding to the torque interval where the current motor torque is located, the position information of the current motor torque in the torque interval, and the torque gradient corresponding to the next torque interval of the torque interval, wherein the transition area represents an area transitioning from one torque interval to the next torque interval;

[0084] The output module 1303 is used to determine the output torque of the motor according to the corrected torque gradient.

[0085] In some embodiments, the apparatus further comprises:

[0086] A torque interval positioning module, used for determining a torque interval where the current motor torque is located according to the current motor torque and the current requested torque of the motor;

[0087] A position information calculation module, used for obtaining the position information of the current motor torque in the torque interval according to the current motor torque of the motor and the interval value of the torque interval in which the current motor torque is located;

[0088] The transition region module is used to determine that the current motor torque of the motor is in the transition region when the position information is greater than a preset threshold.

[0089] In some embodiments, the location information calculation module is specifically used to:

[0090] According to the current motor torque of the motor and the interval value of the torque interval where the current motor torque is located, combined with a first preset calculation formula, the position information of the current motor torque in the torque interval is calculated, wherein the first preset calculation formula is:

[0091]

[0092] Wherein, A is the position information, T1 is the current motor torque of the motor, T2 is the lower limit value of the torque interval where the current motor torque is located, and T3 is the upper limit value of the torque interval where the current motor torque is located.

[0093] In some embodiments, the torque interval positioning module includes:

[0094] a torque demand unit, configured to determine a vehicle torque demand according to a difference between the current motor torque and the current requested torque, wherein the vehicle torque demand includes a torque loading demand or a torque load reduction request;

[0095] The positioning unit is used to determine the torque range of the current motor torque according to the vehicle torque demand and the current motor torque.

[0096] In some embodiments, the plurality of torque intervals include:

[0097] Low torque range, zero torque range and high torque range.

[0098] In some embodiments, the correction module 1302 includes:

[0099] The torque correction unit is used to obtain the corrected torque gradient of the transition area according to the torque gradient corresponding to the torque interval where the current motor torque is located, the position information of the current motor torque in the torque interval, and the torque gradient corresponding to the next torque interval of the torque interval, in combination with a second preset calculation formula, wherein the second preset calculation formula is:

[0100] G1=G2*(1-A)+G3*A

[0101] Among them, G1 is the corrected torque gradient, G2 is the torque gradient corresponding to the torque interval where the current motor torque is located, A is the position information, and G3 is the torque gradient corresponding to the next torque interval of the torque interval.

[0102] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0103] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided. When the program instructions are executed by a processor, the steps of the vehicle torque filtering method described above are implemented.

[0104] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program executable by a programmable device. The computer program has a code portion for executing the above-mentioned vehicle torque filtering method when executed by the programmable device.

[0105] In an exemplary embodiment, a vehicle is also provided, comprising:

[0106] a memory having a computer program stored thereon;

[0107] A processor is used to execute the computer program in the memory to implement the steps of the above-mentioned vehicle torque filtering method.

[0108] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0109] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0110] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A vehicle torque filtering method, characterized in that: include: Dividing the torque working area of ​​the motor into a plurality of torque intervals, and each of the torque intervals corresponds to a different torque gradient; When the current motor torque of the motor is in the transition region, a corrected torque gradient of the transition region is obtained according to the torque gradient corresponding to the torque interval where the current motor torque is located, the position information of the current motor torque in the torque interval, and the torque gradient corresponding to the next torque interval of the torque interval, wherein the transition region represents a region transitioning from one torque interval to the next torque interval; determining the output torque of the motor according to the corrected torque gradient; The step of obtaining the corrected torque gradient of the transition area according to the torque gradient corresponding to the torque interval where the current motor torque is located, the position information of the current motor torque in the torque interval, and the torque gradient corresponding to the next torque interval of the torque interval includes: According to the torque gradient corresponding to the torque interval where the current motor torque is located, the position information of the current motor torque in the torque interval and the torque gradient corresponding to the next torque interval of the torque interval, a corrected torque gradient of the transition area is obtained in combination with a second preset calculation formula, wherein the second preset calculation formula is: Wherein, G1 is the modified torque gradient, is the torque gradient corresponding to the torque interval in which the current motor torque is located, A is the position information, and G3 is the torque gradient corresponding to the next torque interval of the torque interval.

2. The vehicle torque filtering method according to claim 1, characterized in that: Determine whether the current motor torque of the motor is in the transition region by the following steps: Determining a torque interval in which the current motor torque is located according to the current motor torque of the motor and the current requested torque; According to the current motor torque of the motor and the interval value of the torque interval in which the current motor torque is located, obtaining the position information of the current motor torque in the torque interval; When the position information is greater than a preset threshold, it is determined that the current motor torque of the motor is in the transition region.

3. The vehicle torque filtering method according to claim 2, characterized in that: The obtaining, according to the current motor torque of the motor and the interval value of the torque interval in which the current motor torque is located, the position information of the current motor torque in the torque interval includes: According to the current motor torque of the motor and the interval value of the torque interval where the current motor torque is located, combined with a first preset calculation formula, the position information of the current motor torque in the torque interval is calculated, wherein the first preset calculation formula is: Wherein, A is the position information, T1 is the current motor torque of the motor, T2 is the lower limit value of the torque interval where the current motor torque is located, and T3 is the upper limit value of the torque interval where the current motor torque is located.

4. The vehicle torque filtering method according to claim 2, characterized in that: The step of determining the torque interval of the current motor torque according to the current motor torque and the current requested torque of the motor includes: determining a vehicle torque demand according to a difference between the current motor torque and the current requested torque, wherein the vehicle torque demand comprises a torque loading demand or a torque unloading demand; A torque range in which the current motor torque is located is determined according to the vehicle torque demand and the current motor torque.

5. The vehicle torque filtering method according to any one of claims 1 to 4, characterized in that: The plurality of torque intervals include: Low torque range, zero torque range and high torque range.

6. A vehicle torque filtering device, characterized in that: include: A torque partitioning module, used for dividing the torque working area of ​​the motor into a plurality of torque intervals, and each of the torque intervals corresponds to a different torque gradient; a correction module, configured to obtain a correction torque gradient of the transition region when the current motor torque of the motor is in the transition region according to the torque gradient corresponding to the torque interval where the current motor torque is located, the position information of the current motor torque in the torque interval, and the torque gradient corresponding to the next torque interval of the torque interval, wherein the transition region represents a region transitioning from one torque interval to the next torque interval; An output module, used for determining the output torque of the motor according to the corrected torque gradient; The correction module comprises: The torque correction unit is used to obtain the corrected torque gradient of the transition area according to the torque gradient corresponding to the torque interval where the current motor torque is located, the position information of the current motor torque in the torque interval, and the torque gradient corresponding to the next torque interval of the torque interval, in combination with a second preset calculation formula, wherein the second preset calculation formula is: Wherein, G1 is the modified torque gradient, is the torque gradient corresponding to the torque interval in which the current motor torque is located, A is the position information, and G3 is the torque gradient corresponding to the next torque interval of the torque interval.

7. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the vehicle torque filtering method described in any one of claims 1 to 5 are implemented.

8. A vehicle, characterized in that: include: a memory having a computer program stored thereon; A processor, configured to execute the computer program in the memory to implement the steps of the vehicle torque filtering method according to any one of claims 1 to 5.

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