A drive motor control method, device, terminal equipment and storage medium

Abstract

The present application is applicable to the field of motor control technology, and provides a drive motor control method, device, terminal equipment and storage medium, the method comprising: after receiving the first information, calculating the target torque value of the drive motor in the vehicle according to the first information; when the first information includes a torque reduction value, and the actual wheel-end total torque value of the vehicle is less than the torque reduction value, performing a first filtering process on the target torque value, and controlling the rotation of the drive motor based on the target torque value after the first filtering process; when the first information includes a torque increase value, and the actual wheel-end total torque value is greater than the torque increase value, performing a second filtering process on the target torque value, and controlling the rotation of the drive motor based on the target torque value after the second filtering process. When the vehicle slips, the present application determines to filter the torque through the received torque reduction value and the actual wheel-end total torque value, or the torque increase value and the actual wheel-end total torque value, thereby avoiding the vehicle from jerking when the driver quickly releases the accelerator or quickly increases the accelerator when the vehicle slips.

Description

Technical Field

[0001] The present application belongs to the field of motor control technology, and in particular, relates to a drive motor control method, device, terminal equipment and storage medium. Background Art

[0002] The vehicle may sometimes skid during driving. For example, on a road with a low adhesion coefficient, if you use a large throttle to drive the vehicle, the vehicle may skid. When the vehicle skids, the motor torque can be reduced or increased to reduce the skidding time and avoid traffic accidents caused by long-term skidding.

[0003] The inventors found that, currently, when a vehicle skids, in order to quickly eliminate the vehicle skidding phenomenon, when the vehicle adjusts the motor rotation, the calculated motor torque is not filtered and the motor rotation is directly controlled. However, when the vehicle skids, if the driver quickly releases the accelerator or quickly increases the accelerator, the whole vehicle will shake. Summary of the invention

[0004] The embodiments of the present application provide a drive motor control method, apparatus, terminal device and storage medium, which can solve the problem of vehicle jerking when the vehicle skids and the driver quickly releases the accelerator or quickly increases the accelerator.

[0005] In a first aspect, an embodiment of the present application provides a driving motor control method, comprising:

[0006] After receiving the first information, calculating the target torque value of the driving motor in the vehicle according to the first information, wherein the first information includes a torque reduction value or a torque increase value, and the first information is generated and sent when a vehicle body electronic stability system in the vehicle detects that the vehicle is slipping;

[0007] When the first information includes the torque reduction value and the actual total wheel-end torque value of the vehicle is less than the torque reduction value, performing a first filtering process on the target torque value, and controlling the rotation of the drive motor based on the target torque value after the first filtering process, wherein the first filtering process is to reduce the first distributed torque value of the drive motor at the current time to the target torque value according to a first torque gradient;

[0008] When the first information includes the torque increase value and the actual total wheel-end torque value is greater than the torque increase value, the target torque value is subjected to a second filtering process, and the rotation of the drive motor is controlled based on the target torque value after the second filtering process, wherein the second filtering process is to increase the second distributed torque value of the drive motor at the current time to the target torque value according to a second torque gradient.

[0009] In a second aspect, an embodiment of the present application provides a drive motor control device, comprising:

[0010] a calculation module, configured to calculate a target torque value of a driving motor in a vehicle according to the first information after receiving the first information, wherein the first information includes a torque reduction value or a torque increase value, and the first information is generated and sent when a vehicle body electronic stability system in the vehicle detects that the vehicle is slipping;

[0011] a motor control module, configured to perform a first filtering process on the target torque value when the first information includes the torque reduction value and the actual total wheel-end torque value of the vehicle is less than the torque reduction value, and control the rotation of the drive motor based on the target torque value after the first filtering process, wherein the first filtering process is to reduce the first distributed torque value of the drive motor at the current time to the target torque value according to a first torque gradient;

[0012] The motor control module is also used to perform a second filtering process on the target torque value when the first information includes the torque increase value and the actual wheel-end total torque value is greater than the torque increase value, and control the rotation of the drive motor based on the target torque value after the second filtering process, wherein the second filtering process is to increase the second distributed torque value of the drive motor at the current time to the target torque value according to a second torque gradient.

[0013] In a third aspect, an embodiment of the present application provides a terminal device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the drive motor control method described in any one of the first aspects above when executing the computer program.

[0014] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and wherein the computer program, when executed by a processor, implements the drive motor control method described in any one of the first aspects above.

[0015] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product is run on a terminal device, the terminal device executes the drive motor control method described in any one of the first aspects above.

[0016] Compared with the prior art, the first aspect of the present application has the following beneficial effects: after receiving the torque reduction value or torque increase value included in the first information, the present application calculates the target torque value of the driving motor in the vehicle according to the first information; when the first information includes the torque reduction value and the actual wheel-end total torque value of the vehicle is less than the torque reduction value, the target torque value is subjected to a first filtering process, and the driving motor is controlled to rotate based on the target torque value after the first filtering process; when the first information includes the torque increase value and the actual wheel-end total torque value is greater than the torque increase value, the target torque value is subjected to a second filtering process, and the driving motor is controlled to rotate based on the target torque value after the second filtering process. Compared with the prior art, when the vehicle skids, the vehicle jerks due to the lack of torque filtering. When the vehicle skids, the present application determines to filter the torque by receiving the torque reduction value and the actual wheel-end total torque value, or the torque increase value and the actual wheel-end total torque value, so that the torque changes smoothly. When the driving motor rotates, the smoothed torque after filtering makes the motor speed change more smoothly, which avoids the vehicle jerking due to the sudden change of the motor speed when the driver quickly releases the accelerator or quickly increases the accelerator when the vehicle skids.

[0017] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0019] Figure 1 is a flow chart of a driving motor control method provided by an embodiment of the present application;

[0020] Figure 2 is a flow chart of a method for calculating a target torque value during torque reduction provided by an embodiment of the present application;

[0021] Figure 3 is a flow chart of a method for calculating a target torque value during torque increase provided by an embodiment of the present application;

[0022] Figure 4 is a structural schematic diagram of a drive motor control device provided in an embodiment of the present application;

[0023] Figure 5 It is a structural diagram of a terminal device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0024] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0025] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0026] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0027] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0028] During vehicle driving, if the vehicle slips, the Electronic Stability Program (ESP) will activate the Traction Control System (TCS). When TCS is activated, in order to improve the torque control accuracy, the Vehicle Control Unit (VCU) needs to exit the active shock absorption, and after the VCU exits the active shock absorption, the VCU responds to the ESP's torque reduction request or torque increase request. For ease of explanation, this application takes torque reduction as an example for explanation.

[0029] TCS includes the Powertrain Control (PTC), which mainly provides torque reduction services for acceleration slip conditions. TCS also includes the Brake Torque Control (BTC), which mainly provides torque increase services for braking slip conditions.

[0030] Normally, the torque value of the drive motor needs to be filtered before the drive motor can be controlled to run smoothly. When the vehicle is slipping, if the VCU receives a torque reduction request, in order to reduce the wheel-end torque as quickly as possible and avoid long-term slipping, the target torque value is not filtered, and the unfiltered target torque value is used to directly control the operation of the drive motor, so that the torque value of the drive motor can be quickly reduced in a short time. However, when the VCU responds to the torque reduction request, if the driver suddenly releases the accelerator at this time, since the total wheel-end torque value has been reduced to below the torque reduction value at this time, and the ESP torque reduction intervention has not been exited, if the target torque value is still not filtered at this time, the whole vehicle will shake, affecting the driving experience.

[0031] Due to the above-mentioned problems, the drive motor control method proposed in this application adds a judgment condition for filtering the target torque value when the vehicle slips, so as to avoid the problem of the vehicle jerking due to the driver's rapid release of the accelerator or rapid stepping on the accelerator when the vehicle slips, thereby ensuring the smoothness of the vehicle operation.

[0032] Figure 1 A schematic flow chart of the drive motor control method provided by the present application is shown, referring to Figure 1 , the method is described in detail as follows:

[0033] S101, after receiving first information, calculating a target torque value of a driving motor in a vehicle according to the first information, wherein the first information includes a torque reduction value or a torque increase value.

[0034] In this embodiment, the first information is generated and sent by the vehicle body electronic stability system when the vehicle detects that the vehicle is skidding. Specifically, after detecting that the vehicle is skidding, the vehicle body electronic stability system first determines whether the vehicle is skidding due to acceleration or skidding due to braking. If the vehicle is skidding due to acceleration, it is determined that the vehicle needs to reduce torque, and ESP sends a torque reduction request and a torque reduction value to the VCU; if the vehicle is skidding due to braking, it is determined that the vehicle needs to increase torque, and ESP sends a torque increase request and a torque increase value to the VCU. When the first information includes a torque reduction value, the first information may also include a torque reduction request. When the first information includes a torque increase value, the first information may also include a torque increase request.

[0035] In this embodiment, after ESP detects that the vehicle is skidding, if the vehicle is skidding due to acceleration, the PTC torque reduction intervention flag is activated; if the vehicle is skidding due to braking, the BTC torque increase intervention flag is activated.

[0036] S102, when the first information includes the torque reduction value and the actual total wheel end torque value of the vehicle is less than the torque reduction value, performing a first filtering process on the target torque value, and controlling the rotation of the drive motor based on the target torque value after the first filtering process.

[0037] In this embodiment, the first filtering process is to reduce the first distributed torque value of the drive motor at the current time to the target torque value according to the first torque gradient. The first torque gradient can be calculated according to a preset second calculation model. The current time is a time that changes with time. For example, if the current time is 10 o'clock, the current time is 10 o'clock; if the current time is 11 o'clock, the current time is 11 o'clock.

[0038] Specifically, if the first information includes a torque reduction value, it is necessary to determine the magnitude of the actual wheel-end total torque value and the torque reduction value. Specifically, after receiving the torque reduction value, the torque filter is turned off, the drive motor starts to reduce torque, and the actual wheel-end total torque value is calculated in real time. When the actual wheel-end total torque value is less than the torque reduction value, it is necessary to start the torque filter and filter the target torque value to make the drive motor torque change smoothly and avoid vehicle jerking due to torque mutation.

[0039] In this embodiment, when the actual wheel-end total torque value is greater than or equal to the torque reduction value, the drive motor is controlled to rotate based on the target torque value. Specifically, if the actual wheel-end total torque value is greater than or equal to the torque reduction value, it is necessary to turn off the torque filter, and directly use the unfiltered target torque value to control the drive motor rotation, so that the drive motor can reduce the torque as soon as possible. Torque filtering changes the torque more slowly than when the torque is not filtered. Specifically, when reducing the torque, the unfiltered target torque value is first used to reduce the torque of the drive motor until the actual wheel-end total torque value is less than the torque reduction value, and then the filtered target torque value is used to reduce the torque of the drive motor. When the unfiltered target torque value is used to reduce the torque of the drive motor, the distributed torque value of the drive motor is reduced from A to B, and when the filtered target torque value is used to reduce the torque of the drive motor, the distributed torque value of the drive motor is reduced from B to the target torque value.

[0040] S103, when the first information includes the torque increase value and the actual wheel-end total torque value is greater than the torque increase value, performing a second filtering process on the target torque value, and controlling the rotation of the drive motor based on the target torque value after the second filtering process.

[0041] In this embodiment, the second filtering process is to increase the second distributed torque value of the driving motor at the current time to the target torque value according to the second torque gradient. The first torque gradient can be calculated according to a preset first calculation model.

[0042] Specifically, after receiving the torque increase value, the torque rate wave is closed and the drive motor starts to increase torque. When the actual wheel-end total torque value is greater than the torque increase value, the torque filter needs to be started to filter the target torque value so that the drive motor torque changes smoothly and avoids vehicle jerking due to torque mutation.

[0043] In this embodiment, if the actual wheel-end total torque value is less than or equal to the torque increase value, the drive motor is controlled to rotate based on the target torque value. Specifically, if the actual wheel-end total torque value is less than or equal to the torque reduction value, the torque filter needs to be turned off, and the unfiltered target torque value is directly used to control the drive motor to rotate, so that the drive motor can reduce torque as quickly as possible.

[0044] In this embodiment, after receiving the second information, the VCU quits responding to the ESP torque reduction request or torque increase request and resumes active damping. The second information is a representation that the torque of the drive motor has dropped to the target torque value or the vehicle is not slipping. When the VCU performs active damping, if the torque value of the drive motor needs to be changed, it is necessary to start the torque filter to make the torque of the drive motor change smoothly.

[0045] In the embodiment of the present application, after receiving the torque reduction value or torque increase value included in the first information, the target torque value of the driving motor in the vehicle is calculated according to the first information; when the first information includes the torque reduction value and the actual wheel-end total torque value of the vehicle is less than the torque reduction value, the target torque value is filtered, and the driving motor is controlled to rotate based on the target torque value after filtering; when the first information includes the torque increase value and the actual wheel-end total torque value is greater than the torque increase value, the target torque value is filtered, and the driving motor is controlled to rotate based on the target torque value after filtering. Compared with the prior art, when the vehicle skids, the vehicle jerks due to the lack of torque filtering. When the vehicle skids, the present application determines to filter the torque by receiving the torque reduction value and the actual wheel-end total torque value, or the torque increase value and the actual wheel-end total torque value, so that the torque changes smoothly. When the driving motor rotates, the smoothed torque after filtering makes the motor speed change more smoothly, avoiding the vehicle jerking due to the sudden change of the motor speed when the driver quickly releases the accelerator or quickly increases the accelerator when the vehicle skids.

[0046] like Figure 2 As shown, in a possible implementation manner, if the first information includes the torque reduction value, the implementation process of step S101 may include:

[0047] S1011, obtaining the brake pedal torque value of the vehicle, a pre-stored torque increase calibration value, and a third distributed torque value of the drive motor at a current time.

[0048] In this embodiment, when the torque is reduced, the torque increase value may be a pre-stored torque increase calibration value, for example, the torque increase calibration value may be -7000 Nm.

[0049] In this embodiment, the brake pedal torque value is determined by looking up the vehicle speed and the accelerator pedal, so the torque of the drive motor will change with the change of the brake pedal torque value.

[0050] S1012, determining a minimum value between the brake pedal torque value and the torque reduction value, and taking the minimum value between the brake pedal torque value and the torque reduction value as a first value.

[0051] In this embodiment, the brake pedal torque value and the torque reduction value are compared, and the smaller value between the brake pedal torque value and the torque reduction value is taken.

[0052] S1013: Determine a maximum value between the first value and the torque increase calibration amount, and use the maximum value between the first value and the torque increase calibration amount as a second value.

[0053] In this embodiment, the first value and the torque increase calibration amount are compared, and the larger value between the first value and the torque increase calibration amount is taken.

[0054] S1014: Calculate a target torque value of the driving motor based on the second value, the brake pedal torque value, and a third distributed torque value of the driving motor.

[0055] Specifically, the difference between the second value and the brake pedal torque value is calculated, and the difference between the second value and the brake pedal torque value is used as the third value; the sum of the third value and the third distributed torque value of the drive motor is calculated, and the sum of the third value and the third distributed torque value of the drive motor is the target torque value. The third value is the wheel end torque value that the drive motor needs to coordinate. The target torque value is the torque value after the drive motor is coordinated.

[0056] like Figure 3 As shown, in a possible implementation manner, if the first information includes the torque increase value, the implementation process of step S101 may include:

[0057] S201, obtaining a brake pedal torque value of the vehicle, a pre-stored torque reduction calibration value, and a third distributed torque value of the drive motor;

[0058] S202, determining a minimum value between the brake pedal torque value and the torque reduction calibration amount, and taking the minimum value between the brake pedal torque value and the torque reduction calibration amount as a fourth value;

[0059] S203, determining a maximum value between the fourth value and the torque increase value, and taking the maximum value between the fourth value and the torque increase value as a fifth value;

[0060] S204 , calculating a target torque value of the driving motor based on the fifth value, the brake pedal torque value, and the third distributed torque value of the driving motor.

[0061] Specifically, the difference between the fifth value and the brake pedal torque value is calculated, and the difference between the fifth value and the brake pedal torque value is used as the sixth value; the sum of the sixth value and the third distributed torque value of the drive motor is calculated, and the sum of the sixth value and the third distributed torque value of the drive motor is the target torque value.

[0062] In this embodiment, when the torque is increased, the torque reduction value may be a pre-stored torque reduction calibration value, for example, the torque reduction calibration value may be 7000 Nm.

[0063] In a possible implementation, the vehicle is a hybrid vehicle, the vehicle includes an engine and a speed regulating motor, and the driving modes of the hybrid vehicle may include an electric mode, a series mode, and a direct drive mode.

[0064] Among them, in electric mode, the drive motor directly drives the wheels. Series mode is suitable for urban driving conditions, where the engine drives the GM motor (Governor Motor, GM motor) to generate electricity, and the drive motor directly drives the wheels. Direct drive mode can also be called parallel mode. Direct drive mode is suitable for high-speed driving conditions, where the engine directly drives the wheels, and the GM motor and drive motor are responsible for adjusting the engine operating point and auxiliary drive.

[0065] In a possible implementation, the above method may further include:

[0066] When the driving mode of the vehicle is the electric mode or the series mode, the actual wheel-end total torque value is calculated based on the actual torque value of the driving motor.

[0067] Specifically, the product of the actual torque value of the drive motor and the speed ratio of the drive motor is calculated to obtain the actual wheel end total torque value. The actual torque value of the drive motor is the actual torque value fed back by the drive motor.

[0068] When the driving mode is the direct drive mode, the actual wheel-end total torque value is calculated based on the actual torque value of the driving motor, the actual torque value of the engine, and the actual torque value of the GM motor.

[0069] Specifically, the product of the actual torque value of the drive motor and the speed ratio of the drive motor is calculated to obtain a first calculated value. The product of the actual torque value of the engine and the speed ratio of the gearbox is calculated to obtain a second calculated value. The product of the actual torque value of the GM motor and the speed ratio of the GM motor is calculated to obtain a third calculated value. The sum of the first calculated value, the second calculated value and the third calculated value is calculated to obtain the actual wheel end total torque value.

[0070] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0071] Corresponding to the driving motor control method described in the above embodiment, Figure 4 A structural block diagram of a drive motor control device provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0072] Reference Figure 4 The device 300 may include: a calculation module 310 and a motor control module 320 .

[0073] The calculation module 310 is used to calculate the target torque value of the driving motor in the vehicle according to the first information after receiving the first information, wherein the first information includes a torque reduction value or a torque increase value, and the first information is generated and sent when the vehicle body electronic stability system in the vehicle detects that the vehicle is slipping;

[0074] The motor control module 320 is configured to perform a first filtering process on the target torque value when the first information includes the torque reduction value and the actual total wheel-end torque value of the vehicle is less than the torque reduction value, and control the rotation of the drive motor based on the target torque value after the first filtering process, wherein the first filtering process is to reduce the first distributed torque value of the drive motor at the current time to the target torque value according to the first torque gradient;

[0075] The motor control module 320 is also used to perform a second filtering process on the target torque value when the first information includes the torque increase value and the actual wheel-end total torque value is greater than the torque increase value, and control the rotation of the drive motor based on the target torque value after the second filtering process, wherein the second filtering process is to increase the second distributed torque value of the drive motor at the current time to the target torque value according to the second torque gradient.

[0076] In a possible implementation manner, if the first information includes the torque reduction value, the calculation module 310 may be specifically configured to:

[0077] Acquire a brake pedal torque value of the vehicle, a pre-stored torque increase calibration value, and a third distributed torque value of the drive motor at a current time;

[0078] Determine a minimum value between the brake pedal torque value and the torque reduction value, and use the minimum value between the brake pedal torque value and the torque reduction value as a first value;

[0079] Determine a maximum value between the first value and the torque increase calibration amount, and use the maximum value between the first value and the torque increase calibration amount as a second value;

[0080] A target torque value of the drive motor is calculated based on the second value, the brake pedal torque value, and a third distributed torque value of the drive motor.

[0081] In a possible implementation, the calculation module 310 may be specifically used for:

[0082] calculating a difference between the second value and the brake pedal torque value, and taking the difference between the second value and the brake pedal torque value as a third value;

[0083] A sum of the third value and a third distributed torque value of the driving motor is calculated, and the sum of the third value and the third distributed torque value of the driving motor is the target torque value.

[0084] In a possible implementation, the device 300 further includes:

[0085] The driving module is configured to control the driving motor to rotate based on the target torque value if the actual total wheel-end torque value is greater than or equal to the torque reduction value.

[0086] In a possible implementation, if the first information includes the torque increase value, the calculation module 310 may be specifically configured to:

[0087] Acquiring a brake pedal torque value of the vehicle, a pre-stored torque reduction calibration amount, and a third distributed torque value of the drive motor;

[0088] Determine a minimum value between the brake pedal torque value and the torque reduction calibration amount, and use the minimum value between the brake pedal torque value and the torque reduction calibration amount as a fourth value;

[0089] Determine a maximum value between the fourth value and the torque increase value, and use the maximum value between the fourth value and the torque increase value as a fifth value;

[0090] Based on the fifth value, the brake pedal torque value, and the third distributed torque value of the drive motor, a target torque value of the drive motor is calculated.

[0091] In a possible implementation, the driver module may be specifically used for:

[0092] If the actual wheel-end total torque value is less than or equal to the torque increase value, the drive motor is controlled to rotate based on the target torque value.

[0093] In a possible implementation, the vehicle is a hybrid vehicle, the vehicle includes an engine and a speed regulating motor, and the device 300 further includes:

[0094] A first total torque calculation module, configured to calculate the actual wheel-end total torque value based on the actual torque value of the driving motor when the driving mode of the vehicle is an electric mode or a series mode;

[0095] The second total torque calculation module is used to calculate the actual wheel-end total torque value based on the actual torque value of the drive motor, the actual torque value of the engine and the actual torque value of the speed regulating motor when the drive mode is the direct drive mode.

[0096] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0097] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by 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. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0098] The present application also provides a terminal device, see Figure 5 The terminal device 400 may include: at least one processor 410, a memory 420, and a computer program stored in the memory 420 and executable on the at least one processor 410. When the processor 410 executes the computer program, the steps in any of the above-mentioned method embodiments are implemented, for example Figure 1 Steps S101 to S103 in the illustrated embodiment. Alternatively, when the processor 410 executes the computer program, the functions of each module / unit in the above-mentioned device embodiments are implemented, for example Figure 4 The functions of modules 310 to 320 are shown.

[0099] Exemplarily, the computer program may be divided into one or more modules / units, one or more modules / units are stored in the memory 420, and executed by the processor 410 to complete the present application. The one or more modules / units may be a series of computer program segments capable of completing specific functions, and the program segments are used to describe the execution process of the computer program in the terminal device 400.

[0100] Those skilled in the art will understand that Figure 5 It is only an example of a terminal device and does not constitute a limitation on the terminal device. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components, such as input and output devices, network access devices, buses, etc.

[0101] The processor 410 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0102] The memory 420 may be an internal storage unit of the terminal device, or an external storage device of the terminal device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. The memory 420 is used to store the computer program and other programs and data required by the terminal device. The memory 420 may also be used to temporarily store data that has been output or is to be output.

[0103] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0104] The drive motor control method provided in the embodiment of the present application can be applied to terminal devices such as computers, tablet computers, laptops, netbooks, personal digital assistants (PDAs), etc. The embodiment of the present application does not impose any restrictions on the specific type of terminal devices.

[0105] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0106] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0107] In the embodiments provided in the present application, it should be understood that the disclosed terminal equipment, devices and methods can be implemented in other ways. For example, the terminal equipment embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0108] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0109] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0110] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by one or more processors, the steps of each of the above-mentioned method embodiments can be implemented.

[0111] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by one or more processors, the steps of each of the above-mentioned method embodiments can be implemented.

[0112] Similarly, as a computer program product, when the computer program product runs on a terminal device, the terminal device can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0113] The computer program includes computer program code, which may be in source code form, object code form, executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer readable media do not include electric carrier signals and telecommunication signals.

[0114] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A driving motor control method, characterized in that: include: After receiving the first information, calculating the target torque value of the driving motor in the vehicle according to the first information, wherein the first information includes a torque reduction value or a torque increase value, and the first information is generated and sent when a vehicle body electronic stability system in the vehicle detects that the vehicle is slipping; When the first information includes the torque reduction value and the actual total wheel-end torque value of the vehicle is less than the torque reduction value, performing a first filtering process on the target torque value, and controlling the rotation of the drive motor based on the target torque value after the first filtering process, wherein the first filtering process is to reduce the first distributed torque value of the drive motor at the current time to the target torque value according to a first torque gradient; When the first information includes the torque increase value and the actual total wheel-end torque value is greater than the torque increase value, the target torque value is subjected to a second filtering process, and the rotation of the drive motor is controlled based on the target torque value after the second filtering process, wherein the second filtering process is to increase the second distributed torque value of the drive motor at the current time to the target torque value according to a second torque gradient.

2. The driving motor control method according to claim 1, characterized in that: If the first information includes the torque reduction value, calculating the target torque value of the driving motor in the vehicle according to the first information includes: Acquire a brake pedal torque value of the vehicle, a pre-stored torque increase calibration value, and a third distributed torque value of the drive motor at a current time; Determine a minimum value between the brake pedal torque value and the torque reduction value, and use the minimum value between the brake pedal torque value and the torque reduction value as a first value; Determine a maximum value between the first value and the torque increase calibration amount, and use the maximum value between the first value and the torque increase calibration amount as a second value; A target torque value of the drive motor is calculated based on the second value, the brake pedal torque value, and a third distributed torque value of the drive motor.

3. The driving motor control method according to claim 2, characterized in that: The calculating the target torque value of the driving motor based on the second value, the brake pedal torque value and the third distributed torque value of the driving motor comprises: calculating a difference between the second value and the brake pedal torque value, and taking the difference between the second value and the brake pedal torque value as a third value; A sum of the third value and a third distributed torque value of the driving motor is calculated, and the sum of the third value and the third distributed torque value of the driving motor is the target torque value.

4. The driving motor control method according to any one of claims 1 to 3, characterized in that: When the first information includes the torque reduction value, the method further includes: If the actual total wheel-end torque value is greater than or equal to the torque reduction value, the drive motor is controlled to rotate based on the target torque value.

5. The driving motor control method according to claim 1, characterized in that: If the first information includes the torque increase value, calculating the target torque value of the driving motor in the vehicle according to the first information includes: Acquire a brake pedal torque value of the vehicle, a pre-stored torque reduction calibration value, and a third distributed torque value of the drive motor at a current time; Determine a minimum value between the brake pedal torque value and the torque reduction calibration amount, and use the minimum value between the brake pedal torque value and the torque reduction calibration amount as a fourth value; Determine a maximum value between the fourth value and the torque increase value, and use the maximum value between the fourth value and the torque increase value as a fifth value; Based on the fifth value, the brake pedal torque value, and the third distributed torque value of the drive motor, a target torque value of the drive motor is calculated.

6. The driving motor control method according to claim 1 or 5, characterized in that: When the first information includes the torque increase value, the method further includes: If the actual wheel-end total torque value is less than or equal to the torque increase value, the drive motor is controlled to rotate based on the target torque value.

7. The driving motor control method according to claim 1, characterized in that: The vehicle is a hybrid vehicle, the vehicle includes an engine and a speed regulating motor, and the method further includes: When the driving mode of the vehicle is an electric mode or a series mode, calculating the actual wheel-end total torque value based on the actual torque value of the driving motor; When the driving mode is the direct drive mode, the actual wheel end total torque value is calculated based on the actual torque value of the driving motor, the actual torque value of the engine and the actual torque value of the speed regulating motor.

8. A drive motor control device, characterized in that: include: a calculation module, configured to calculate a target torque value of a driving motor in a vehicle according to the first information after receiving the first information, wherein the first information includes a torque reduction value or a torque increase value, and the first information is generated and sent when a vehicle body electronic stability system in the vehicle detects that the vehicle is slipping; a motor control module, configured to perform a first filtering process on the target torque value when the first information includes the torque reduction value and the actual total wheel-end torque value of the vehicle is less than the torque reduction value, and control the rotation of the drive motor based on the target torque value after the first filtering process, wherein the first filtering process is to reduce the first distributed torque value of the drive motor at the current time to the target torque value according to a first torque gradient; The motor control module is also used to perform a second filtering process on the target torque value when the first information includes the torque increase value and the actual wheel-end total torque value is greater than the torque increase value, and control the rotation of the drive motor based on the target torque value after the second filtering process, wherein the second filtering process is to increase the second distributed torque value of the drive motor at the current time to the target torque value according to a second torque gradient.

9. A terminal 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, the drive motor control method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the drive motor control method according to any one of claims 1 to 7 is implemented.

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