Automobile Motor Torque Output Control Method, Device, Equipment and Storage Medium

Abstract

The present invention provides a method, device, equipment and storage medium for controlling the torque output of an automotive motor. In this method, the discharge power at the first time and the discharge power at the second time are obtained; then the first motor torque corresponding to the discharge power at the first time and the second motor torque corresponding to the discharge power at the second time are obtained; when the discharge power at the first time is not less than the preset power value, the motor torque output is controlled according to the first motor torque and the second motor torque; when the discharge power at the first time is less than the preset power value, the motor torque output is controlled according to the discharge power at the first time. According to the magnitude relationship between the discharge power at the first time and the preset power value, the present invention adopts different control strategies to limit the maximum torque value in the low-speed section in advance, so that the torque changes smoothly when decreasing with the speed during the starting stage.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a method, device, equipment and storage medium for controlling torque output of an automobile motor. Background Art

[0002] In electric vehicle models, the vehicle controller is generally used as the main controller to collect driver demand information such as throttle, brake, gear, etc., analyze the driving demand torque, calculate the available power and torque of the vehicle according to the component information such as battery status, motor status, and accessory consumption, and finally request the motor drive torque to meet the driving demand. The vehicle is used in a variety of environments. On the one hand, the safety of the vehicle components must be guaranteed, and at the same time, the driving quality of the vehicle must be guaranteed. Especially in the case of low temperature and low power, the battery discharge capacity is weak, and it is easy to have battery overcharge and over discharge, and various vehicle jitter problems. For example, the current electric vehicle torque control generally adopts the calculation method of motor request torque = Min (driver demand torque, 9550×vehicle available discharge power / speed). When the available discharge power of the vehicle is weak, at the starting stage of the vehicle, the torque changes too sensitively with the speed. The motor speed rises from 0, and the available torque changes exponentially with the speed in a short time. The torque change causes the vehicle to shake, and the vehicle's shaking further affects the fluctuation of the speed. The two interfere with each other, making it difficult to converge. Such repeated shaking causes the problem of poor starting driving smoothness. Summary of the invention

[0003] The embodiments of the present invention provide a method, device, equipment and storage medium for controlling the torque output of an automobile motor, so as to solve the problem in the prior art that the torque is too sensitive to the speed change, resulting in poor starting driving smoothness.

[0004] A first aspect of the present application provides a method for controlling the torque output of an automobile motor, the method comprising:

[0005] Acquire a discharge power at a first time and a discharge power at a second time according to a battery state, wherein the first time is less than the second time;

[0006] When the first time discharge power is not less than a preset power value, obtaining a motor speed, obtaining a first motor torque according to the motor speed and the first time discharge power, obtaining a second motor torque according to the motor speed and the second time discharge power, filtering the second motor torque, and controlling the motor torque output according to the first motor torque and the filtered second motor torque;

[0007] When the first time discharge power is less than a preset power value, the motor torque output is controlled according to the first time discharge power.

[0008] The second aspect of the present application provides a device for controlling the torque output of an automotive motor, and the device for controlling the torque output of the automotive motor includes:

[0009] A discharge power acquisition module, configured to acquire a first-time discharge power and a second-time discharge power according to the battery state, where the first time is less than the second time;

[0010] A motor torque control module, when the first-time discharge power is not less than a preset power value, is configured to acquire the motor speed, acquire a first motor torque according to the motor speed and the first-time discharge power, acquire a second motor torque according to the motor speed and the second-time discharge power, filter the second motor torque, and control the motor torque output according to the first motor torque and the filtered second motor torque; when the first-time discharge power is less than the preset power value, is configured to control the motor torque output according to the first-time discharge power.

[0011] The third aspect of the present application provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the steps of the method described in the first aspect of the present invention are implemented.

[0012] The fourth aspect of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method described in the first aspect of the present invention are implemented.

[0013] The present application provides a method, a device, a device, and a storage medium for controlling the torque output of an automotive motor. In this method, a first-time discharge power and a second-time discharge power are acquired; then, a first motor torque corresponding to the first-time discharge power and a second motor torque corresponding to the second-time discharge power are acquired; when the first-time discharge power is not less than a preset power value, the motor torque output is controlled according to the first motor torque and the second motor torque; when the first-time discharge power is less than the preset power value, the motor torque output is controlled according to the first-time discharge power. In this embodiment, according to the magnitude relationship between the first-time discharge power and the preset power value, different control strategies are adopted to limit the maximum torque value in the low-speed section in advance, so that when the torque in the starting stage decreases with the speed, the change is smooth. Description of the Drawings

[0014] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can also obtain other drawings without creative efforts based on these drawings.

[0015] Figure 1 is a flowchart of a method for controlling the torque output of an automotive motor in an embodiment of the present invention;

[0016] Figure 2 is a schematic diagram showing the relationship between the filtering time constant of the second motor torque and the motor speed in a method for controlling the torque output of an automotive motor in an embodiment of the present invention;

[0017] Figure 3 is a detailed flowchart of step S102 in a method for controlling the torque output of an automotive motor in an embodiment of the present invention;

[0018] Figure 4 is a schematic diagram showing the relationship between the limiting torque of the first-time discharge power and the motor speed in a method for controlling the torque output of an automotive motor in an embodiment of the present invention;

[0019] Figure 5 is a schematic structural diagram of a device for controlling the torque output of an automotive motor in an embodiment of the present invention;

[0020] Figure 6 is a schematic diagram of a computer device in an embodiment of the present invention. Detailed implementation manners

[0021] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0022] A method for controlling the torque output of an automotive motor provided by an embodiment of the present application, as Figure 1 shown, the method for controlling the torque output of an automotive motor includes step S101, step S102, and step S103, which are specifically as follows:

[0023] Step S101. Obtain the first-time discharge power and the second-time discharge power according to the battery state, where the first time is less than the second time.

[0024] Among them, the first-time discharge power refers to the discharge power within a short time or the instantaneous discharge power, such as the 2-second discharge power, and the second-time discharge power refers to the discharge power for a continuous period of time, such as the 10-second discharge power.

[0025] Among them, the first time is less than the second time, and the first time is less than the first preset time value. The first preset time value can be a relatively small time value, such as instantaneous, 1 second, 2 seconds, etc. The second time is greater than the second preset time value, and the second preset time value can be a relatively large time value, such as 5 seconds, 6 seconds, etc.

[0026] Among them, the acquisition of the discharge power at the first time and the discharge power at the second time can be obtained by looking up a table according to the SOC curve of the battery.

[0027] The difference between this step and the prior art is: obtaining the discharge power for two preset time periods, and controlling the motor output torque based on the discharge power for these two preset time periods.

[0028] As an implementation manner, obtaining the discharge power at the first time and the discharge power at the second time according to the battery state in step S101 includes:

[0029] Obtaining the discharge power for 2 seconds and the discharge power for 10 seconds according to the battery temperature, the battery SOC value, and the SOC time relationship curve. Among them, the discharge power at the first time is the discharge power for 2 seconds, and the discharge power at the second time is the discharge power for 10 seconds.

[0030] Among them, obtaining the current battery temperature and the current battery SOC value, and looking up a table on the SOC time relationship curve can obtain the discharge power within different times. For example, the discharge power for 2 seconds and the discharge power for 10 seconds.

[0031] Step S102. When the discharge power at the first time is not less than the preset power value, obtain the motor speed, obtain the first motor torque according to the motor speed and the discharge power at the first time, and obtain the second motor torque according to the motor speed and the discharge power at the second time, filter the second motor torque, and control the motor torque output according to the first motor torque and the filtered second motor torque.

[0032] Among them, assuming the motor speed is n and the discharge power at the first time is P1, the first motor torque T1 can be obtained by the following formula:

[0033] T1 = 9550×P1 / n;

[0034] Among them, assuming the motor speed is n and the discharge power at the second time is P2, the second motor torque T2 can be obtained by the following formula:

[0035] T2 = 9550×P2 / n;

[0036] Among them, one first motor torque and one second motor torque can be correspondingly obtained according to one motor speed. When the motor speed changes, the first motor torque curve and the second motor torque curve can be respectively obtained.

[0037] Among them, the preset power value can be 10KW. When the discharge power at the first time is large, there is a certain gap between the first motor torque and the second motor torque calculated at the same speed. For example, the discharge power at the first time is 20KW, and the discharge power at the second time is 50KW. Since the second motor torque changes rapidly with the speed, when filtering the second motor torque, there may be a situation where the filtered second motor torque is greater than the first motor torque. After that, the first motor torque is used to limit the filtered second motor torque and then control the motor torque output.

[0038] Among them, as Figure 2 shown, it is a schematic diagram of the relationship between the filtering time constant w of the second motor torque and the motor speed n. The process of filtering the second motor torque is to obtain the filtering time constant according to the current motor speed and perform first-order filtering on the second motor torque according to the filtering time constant.

[0039] The technical features in this step have the following technical effects: By filtering the second motor torque, it is avoided that the second motor torque changes rapidly with the speed. By using the first motor torque to limit the filtered second motor torque, it is avoided that the response is slow after filtering, resulting in overcharging and over-discharging. By controlling the motor torque output according to the first motor torque and the filtered second motor torque, the maximum torque value in the low-speed section is limited in advance, so that when the torque in the starting stage decreases with the speed, the change is smooth.

[0040] Further, in step S102, controlling the motor torque output according to the first motor torque and the filtered second motor torque includes:

[0041] Obtaining the constrained motor torque according to the first motor torque and the filtered second motor torque, and controlling the motor torque output according to the constrained motor torque.

[0042] Among them, the constrained motor torque refers to the torque obtained by limiting the filtered second motor torque with the first motor torque, that is, the smaller torque between the filtered second motor torque and the first motor torque at the same speed forms the constrained motor torque. By the constrained motor torque, the output of the motor torque is limited according to the first motor torque and the second motor torque at the same time.

[0043] Further, as Figure 3 shown, obtaining the constrained motor torque according to the first motor torque and the filtered second motor torque includes:

[0044] Step S201. Obtain the first motor torque curve and the filtered second motor torque curve;

[0045] Step S202. When the first motor torque on the first motor torque curve is greater than or equal to the second motor torque on the second motor torque curve at the same speed, set the second motor torque as the constrained motor torque;

[0046] Step S203. When the first motor torque on the first motor torque curve is less than the second motor torque on the second motor torque curve at the same rotational speed, set the first motor torque as the constrained motor torque.

[0047] Among them, the second motor torque is filtered. After filtering, the second motor torque will fluctuate, and there may be a situation where the filtered second motor torque is greater than the first motor torque. Compare the filtered second motor torque with the first motor torque, and select the smaller torque as the constrained motor torque to control the motor torque output.

[0048] Furthermore, controlling the motor torque output according to the constrained motor torque in step S102 further includes:

[0049] Obtain the required torque and the motor base torque;

[0050] Obtain the minimum torque value among the required torque, the motor base torque, and the constrained motor torque, and set the minimum torque value as the motor output torque.

[0051] Among them, the required torque is calculated by calculating the original required torque based on information such as the throttle and vehicle speed and performing drivability filtering to obtain the required torque. The motor base torque refers to the torque obtained without considering the battery power output according to the motor state. Compare the required torque, the motor base torque, and the constrained motor torque to obtain the minimum torque value, and set the minimum torque value as the motor output torque.

[0052] Step S103. When the first-time discharge power is less than the preset power value, control the motor torque output according to the first-time discharge power.

[0053] Among them, the preset power value can be 10KW. When the first-time discharge power is small, the gap between the first motor torque and the second motor torque calculated at the same rotational speed is small. For example, the first-time discharge power is 6KW and the second-time discharge power is 5KW. In order to avoid the second motor torque following the rotational speed changing too fast, there will often be a situation where the second motor torque is greater than the first motor torque during the filtering of the second motor torque, resulting in the filtering of the second motor torque losing its effect. At this time, obtain the limiting torque according to the first-time discharge power. As Figure 4 shown, it is a schematic diagram of the relationship between the limiting torque s of the first-time discharge power and the motor rotational speed n. Obtain the limiting torque according to the motor rotational speed and the first-time discharge power, and limit the motor torque output through this limiting torque.

[0054] The technical features in this step have the following technical effects: When the battery discharge capacity is weak and the available torque of the motor changes too fast with the speed, resulting in ineffective filtering, the maximum torque value in the low-speed range is limited in advance according to the first-time discharge power, so that the torque during the starting stage changes smoothly as the speed decreases.

[0055] Further, controlling the motor torque output according to the first-time discharge power further includes:

[0056] Obtain the required torque and the basic torque of the motor, and obtain the constrained motor torque according to the first-time discharge power;

[0057] Obtain the minimum torque value among the required torque, the basic torque of the motor, and the constrained motor torque, and set the minimum torque value as the motor output torque.

[0058] Among them, a schematic diagram of the relationship between the limited torque s of the first-time discharge power and the motor speed n is pre-stored. The constrained motor torque can be obtained by looking up the table according to the first-time discharge power. Compare the required torque, the basic torque of the motor, and the constrained motor torque to obtain the minimum torque value, and set the minimum torque value as the motor output torque to achieve the control of the motor torque output when the second motor torque cannot be filtered.

[0059] The embodiment of the present invention provides a method for controlling the torque output of an automotive motor. In this method, the first-time discharge power and the second-time discharge power are obtained; then the first motor torque corresponding to the first-time discharge power and the second motor torque corresponding to the second-time discharge power are obtained; when the first-time discharge power is not less than the preset power value, the motor torque output is controlled according to the first motor torque and the second motor torque; when the first-time discharge power is less than the preset power value, the motor torque output is controlled according to the first motor torque. This embodiment adopts different control strategies according to the magnitude relationship between the first-time discharge power and the preset power value, and limits the maximum torque value in the low-speed range in advance, so that the torque during the starting stage changes smoothly as the speed decreases.

[0060] The following takes the 2-second discharge power and the 10-second discharge power as examples to specifically illustrate the present invention:

[0061] Step 1: Collect the throttle and vehicle speed information through sensors or CAN signals. According to the throttle and vehicle speed information, calculate the driver's original required torque and perform drivability filtering to obtain the driver's required torque.

[0062] Step 2: The battery management controller reports the battery status. According to the battery status, calculate the available 10-second discharge power and the available 2-second discharge power of the whole vehicle.

[0063] Step 3: Obtain the motor status by reporting to the CAN through the motor controller. According to the motor status, calculate the basic available torque of the motor.

[0064] Step 4: Calculate the available torque of the motor for 10 seconds and the available torque for 2 seconds respectively according to the calculated available discharge power of the whole vehicle for 10 seconds, the available discharge power for 2 seconds, and the motor speed.

[0065] Step 5: When the available discharge power for 2 seconds is large, for example, greater than 10 KW, filter the available torque of the motor for 10 seconds to limit the torque from changing too fast with the speed. At the same time, use the available torque for 2 seconds to limit the available torque of the motor for 10 seconds after filtering to avoid slow response after filtering, resulting in overcharge and over-discharge.

[0066] Step 6: When the available discharge power for 2 seconds is small, for example, less than 10 KW, the available torque of the motor for 2 seconds calculated at low speed changes relatively fast with the speed, resulting in the filtering of the available torque for 10 seconds being ineffective. Obtain the limiting torque by looking up a table according to the available discharge power for 2 seconds of the whole vehicle and the motor speed, and limit the entire low-speed section through the limiting torque to avoid too fast torque change when the speed rises.

[0067] Step 7: The system constraints on the motor torque are obtained from Steps 5 and 6.

[0068] Step 8: Combine the driver's required torque, the basic available torque of the motor, and the system-constrained motor torque, and select the minimum value to output the motor request torque.

[0069] In this embodiment, different filtering parameter values are set according to the speed, and filtering is strengthened in the low-speed section to improve the fluctuation of the torque caused by too fast speed change. At the same time, the torque after filtering is limited by the available torque of the motor for 2 seconds to avoid overcharge and over-discharge; when the battery discharge capacity is weak, the available torque of the motor for 2 seconds also changes too fast with the speed, resulting in the filtering being ineffective. In this case, the limiting value is obtained according to the 2-second discharge power of the battery to limit the maximum torque value in the low-speed section in advance, so that the torque changes smoothly when the speed rises. In this embodiment, the vehicle controller periodically detects the driver's operation signal, battery information, and motor information, first calculates the driver's required torque and the basic available torque of the motor, filters and limits the available torque of the motor in the low-speed section where the available discharge power of the whole vehicle is low and the vehicle starts, realizes the smooth change of the torque, improves the jitter, and enhances the driving smoothness.

[0070] Another embodiment of the present invention provides an automotive motor torque output control device, as Figure 5 shown. The automotive motor torque output control device includes:

[0071] A discharge power acquisition module 21, configured to acquire the first-time discharge power and the second-time discharge power according to the battery state, where the first time is less than the second time;

[0072] The motor torque control module 22 is used to obtain the motor speed when the discharge power at the first time is not less than the preset power value, obtain the first motor torque according to the motor speed and the discharge power at the first time, and obtain the second motor torque according to the motor speed and the discharge power at the second time, filter the second motor torque, and control the motor torque output according to the first motor torque and the filtered second motor torque; when the discharge power at the first time is less than the preset power value, it is used to control the motor torque output according to the discharge power at the first time.

[0073] Further, the motor torque control module 22 is further used for:

[0074] Obtain the constrained motor torque according to the filtered second motor torque and the first motor torque, and control the motor torque output according to the constrained motor torque.

[0075] Further, the motor torque control module 22 is further used for:

[0076] Obtain the first motor torque curve and the filtered second motor torque curve;

[0077] When the first motor torque on the first motor torque curve is greater than or equal to the second motor torque on the second motor torque curve at the same speed, set the second motor torque as the constrained motor torque;

[0078] When the first motor torque on the first motor torque curve is less than the second motor torque on the second motor torque curve at the same speed, set the first motor torque as the constrained motor torque.

[0079] Further, the motor torque control module 22 is further used for:

[0080] Obtain the required torque and the motor base torque;

[0081] Obtain the minimum torque value among the required torque, the motor base torque, and the first motor torque, and set the minimum torque value as the motor output torque.

[0082] Further, the motor torque control module 22 is further used for:

[0083] Obtain the required torque and the motor base torque, and obtain the constrained motor torque according to the discharge power at the first time;

[0084] Obtain the minimum torque value among the required torque, the motor base torque, and the constrained motor torque, and set the minimum torque value as the motor output torque.

[0085] For the specific limitations of the automotive motor torque output control device, reference can be made to the limitations of the automotive motor torque output control method in the foregoing text, which will not be elaborated here. Each module in the above-mentioned automotive motor torque output control device can be implemented in whole or in part by software, hardware, and their combination. Each of the above modules can be embedded in the processor of the computer device in hardware form or be independent of it, or can be stored in the memory of the computer device in software form, so as to facilitate the processor to call and execute the operations corresponding to each of the above modules.

[0086] In one embodiment, a computer device is provided. The computer device can be a server, and its internal structure diagram can be as Figure 6 shown. The computer device includes a processor, a memory, a network interface, and a database connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store the data used in the automotive motor torque output control method in the above embodiment. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it realizes an automotive motor torque output control method.

[0087] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, it realizes the automotive motor torque output control method in the above embodiment.

[0088] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by the processor, it realizes the automotive motor torque output control method in the above embodiment.

[0089] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium used in the embodiments provided in the present application can include non-volatile and / or volatile memories. Non-volatile memories can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memories can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM), etc.

[0090] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the above-mentioned division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0091] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A method for controlling the torque output of an automotive motor, characterized in that, The method for controlling the torque output of an automotive motor includes: Obtaining a first-time discharge power and a second-time discharge power according to the battery state, where the first time is less than the second time; When the first-time discharge power is not less than a preset power value, obtaining the motor speed, obtaining a first motor torque according to the motor speed and the first-time discharge power, obtaining a second motor torque according to the motor speed and the second-time discharge power, filtering the second motor torque, and controlling the motor torque output according to the first motor torque and the filtered second motor torque; When the first-time discharge power is less than the preset power value, controlling the motor torque output according to the first-time discharge power.

2. The method for controlling the torque output of an automotive motor according to claim 1, wherein The obtaining of the first-time discharge power and the second-time discharge power according to the battery state includes: Obtaining an instantaneous discharge power and a continuous discharge power according to the battery temperature, the battery SOC value, and the SOC time relationship curve, where the first-time discharge power is the instantaneous discharge power and the second-time discharge power is the continuous second discharge power.

3. The method for controlling the torque output of an automotive motor according to claim 1, characterized in that The controlling of the motor torque output according to the first motor torque and the filtered second motor torque includes: Obtaining a constrained motor torque according to the first motor torque and the filtered second motor torque, and controlling the motor torque output according to the constrained motor torque.

4. The automotive motor torque output control method according to claim 3, wherein, The obtaining of the constrained motor torque according to the first motor torque and the filtered second motor torque includes: Obtaining a first motor torque curve and a filtered second motor torque curve; When the first motor torque on the first motor torque curve is greater than or equal to the second motor torque on the second motor torque curve at the same speed, setting the second motor torque as the constrained motor torque; When the first motor torque on the first motor torque curve is less than the second motor torque on the second motor torque curve at the same speed, setting the first motor torque as the constrained motor torque.

5. The method for controlling the torque output of an automotive motor according to claim 4, characterized in that, The controlling of the motor torque output according to the first motor torque includes: Obtaining a required torque and a motor base torque; Obtaining the minimum torque value among the required torque, the motor base torque, and the first motor torque, and setting the minimum torque value as the motor output torque.

6. The method for controlling the torque output of an automotive motor according to claim 4, wherein The controlling of the motor torque output according to the first-time discharge power further includes: Obtaining a required torque and a motor base torque, and obtaining a constrained motor torque according to the first-time discharge power; Obtaining the minimum torque value among the required torque, the motor base torque, and the constrained motor torque, and setting the minimum torque value as the motor output torque.

7. An automotive motor torque output control device, characterized in that, The automotive motor torque output control device includes: A discharge power obtaining module, configured to obtain a first-time discharge power and a second-time discharge power according to the battery state, where the first time is less than the second time; The motor torque control module is used to obtain the motor speed when the discharge power at the first time is not less than the preset power value, obtain the first motor torque according to the motor speed and the discharge power at the first time, obtain the second motor torque according to the motor speed and the discharge power at the second time, filter the second motor torque, and control the motor torque output according to the first motor torque and the filtered second motor torque; when the discharge power at the first time is less than the preset power value, it is used to control the motor torque output according to the discharge power at the first time.

8. The automotive motor torque output control device according to claim 7, characterized in that The motor torque control module is further used for: Obtaining a constrained motor torque according to the filtered second motor torque and the first motor torque, and controlling the motor torque output according to the constrained motor torque.

9. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the method according to any one of claims 1 to 6.

Images