Torque output control method and device, electric vehicle and medium

Abstract

The application provides a torque output control method and device, an electric vehicle and a medium. The torque output control method comprises the following steps: in response to energy recovery starting, identifying a current working condition; if the current working condition is identified as a target energy recovery working condition, determining a target damping torque calibration value corresponding to the target energy recovery working condition according to a preset corresponding relationship between the energy recovery working condition and the damping torque calibration value; and adjusting an energy recovery torque value output by the motor through the target damping torque calibration value. Through the torque output control method provided by the application, the energy recovery torque value output by the motor can be quickly adjusted, the vehicle body can be timely ensured to be stable, and the occurrence of the vehicle body out of control can be reduced, so as to help improve the user's riding experience.

Description

Technical Field

[0001] This invention relates to the field of motor control, specifically to a torque output control method and device, an electric vehicle, and a medium. Background Technology

[0002] When an electric vehicle responds to energy recovery and decelerates or brakes over speed bumps, potholes, or low-traction surfaces, it may accidentally trigger the Anti-lock Braking System (ABS), causing the vehicle to shut down energy recovery. This can lead to the vehicle tilting forward or skidding after landing, affecting the driver's safety.

[0003] In related technologies, to avoid situations such as forward tilting or slippage during vehicle operation, the chassis control unit sends the required torque increase / decrease signal to the gateway based on the electric vehicle network architecture. The gateway forwards the signal to the vehicle control unit, which then sends the required torque value to the motor control unit to control vehicle stability.

[0004] However, controlling torque output in this way requires communication and interaction with multiple control units, which is time-consuming. Furthermore, when the network malfunctions, network latency can easily affect the normal output of torque values, thus hindering timely control of vehicle stability. Summary of the Invention

[0005] Therefore, the technical problem to be solved by the present invention is to overcome the shortcomings of the prior art in that the control of torque output is time-consuming, thereby providing a torque output control method and device, electric vehicle and medium.

[0006] According to a first aspect, embodiments of the present invention provide a torque output control method, the method comprising: responding to energy recovery activation and identifying the current operating condition; if the current operating condition is identified as a target energy recovery operating condition, determining a target damping torque calibration value corresponding to the target energy recovery operating condition based on a preset correspondence between energy recovery operating conditions and damping torque calibration values; and adjusting the energy recovery torque value output by the motor through the target damping torque calibration value.

[0007] In this approach, the motor control unit can quickly adjust the energy recovery torque value output by the motor without interacting with other control units through a gateway, thus simplifying the control process and improving control efficiency. Furthermore, adjusting the energy recovery torque value output by the motor control unit effectively avoids the inability to adjust the motor's energy recovery torque value in a timely manner due to network latency. This allows for timely adjustment of the motor's energy recovery torque value under target energy recovery conditions, preventing the ABS system from being falsely triggered and thus helping to ensure vehicle stability and avoid impacting the user's riding experience.

[0008] In conjunction with the first aspect, in the first embodiment of the first aspect, identifying the current operating condition includes: identifying the current operating condition based on the working state of the brake pedal and the current speed fluctuation frequency of the motor resolver.

[0009] In conjunction with the first embodiment of the first aspect, in the second embodiment of the first aspect, the target energy recovery condition includes a sliding energy recovery condition; identifying the current condition based on the working state of the brake pedal and the current speed fluctuation frequency of the motor resolver includes: if the brake pedal is in a non-starting state and the current speed fluctuation frequency of the motor resolver belongs to a specified frequency range, then the current condition is identified as a sliding energy recovery condition; determining the target damping torque calibration value corresponding to the target energy recovery condition according to the preset correspondence between energy recovery conditions and damping torque calibration values ​​includes: determining the first damping torque calibration value corresponding to the sliding energy recovery condition as the target damping torque calibration value according to the preset correspondence between energy recovery conditions and damping torque calibration values.

[0010] In conjunction with the first embodiment of the first aspect, in the third embodiment of the first aspect, the target energy recovery condition includes a braking energy recovery condition; identifying the current condition based on the working state of the brake pedal and the current speed fluctuation frequency of the motor resolver includes: if the brake pedal is in an active state, or the brake pedal is in a non-active state but the speed fluctuation frequency of the motor resolver does not belong to the specified frequency range, then the current condition is identified as a braking energy recovery condition; determining the target damping torque calibration value corresponding to the target energy recovery condition according to the preset correspondence between the energy recovery condition and the damping torque calibration value includes: determining the second damping torque calibration value corresponding to the braking energy recovery condition as the target damping torque calibration value according to the preset correspondence between the energy recovery condition and the damping torque calibration value.

[0011] In conjunction with the first embodiment of the first aspect, in the fourth embodiment of the first aspect, after the response energy recovery is initiated, the method further includes: detecting the speed fluctuation frequency of the motor resolver within a specified time to obtain the speed fluctuation range; and filtering the speed fluctuation range to obtain the current speed fluctuation frequency of the motor resolver.

[0012] In conjunction with the first aspect, in the fifth embodiment of the first aspect, adjusting the energy recovery torque value output by the motor through the target damping torque calibration value includes: applying the target damping torque calibration value to the energy recovery torque value output by the motor, thereby adjusting the energy recovery torque value output by the motor.

[0013] In conjunction with the first aspect, in the sixth embodiment of the first aspect, the method further includes: if the current operating condition is identified as a default energy recovery operating condition, then the energy recovery torque value output by the motor is not adjusted.

[0014] According to a second aspect, embodiments of the present invention also provide a torque output control device, the device comprising:

[0015] The identification unit is used to identify the current operating condition in response to the activation of energy recovery;

[0016] The determining unit is used to determine the target damping torque calibration value corresponding to the target energy recovery condition if the current operating condition is identified as the target energy recovery condition, based on the preset correspondence between the energy recovery condition and the damping torque calibration value.

[0017] The first control unit is used to adjust the energy recovery torque value output by the motor according to the target damping torque calibration value.

[0018] According to a third aspect, embodiments of the present invention also provide an electric vehicle, including a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform a torque output control method according to any one of the first aspect and its optional embodiments.

[0019] According to a fourth aspect, embodiments of the present invention also provide a computer-readable storage medium storing computer instructions for causing the computer to perform a torque output control method according to any one of the first aspect and its alternative embodiments. Attached Figure Description

[0020] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 This is a flowchart of a torque output control method according to an exemplary embodiment.

[0022] Figure 2 This is a flowchart of another torque output control method proposed according to an exemplary embodiment.

[0023] Figure 3 This is a flowchart of yet another torque output control method proposed according to an exemplary embodiment.

[0024] Figure 4 This is a structural block diagram of a torque output control device according to an exemplary embodiment.

[0025] Figure 5 This is a schematic diagram of the hardware structure of an electric vehicle according to an exemplary embodiment. Detailed Implementation

[0026] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] In related technologies, the unit of power output in electric vehicles is the drive motor. In the network architecture of electric vehicles, the motor control unit and the chassis control unit are distributed across different CAN gateways. The motor controller is connected to the new energy / power domain CAN, while the chassis ECU is connected to the chassis CAN. When faced with certain sudden and extremely short-lived abnormal operating conditions, such as when an electric vehicle goes over a speed bump and lands, the chassis control unit needs to send a torque increase / decrease signal to the gateway. The gateway forwards this to the vehicle control unit, which then sends the required torque value to the motor control unit to control vehicle stability.

[0028] However, controlling torque output in this way requires communication and interaction with multiple control units, which is time-consuming. Furthermore, when the network malfunctions, network latency can easily affect the normal output of torque values, thus hindering timely control of vehicle stability.

[0029] To address the aforementioned issues, this invention provides a torque output control method for use in electric vehicles. It should be noted that the executing entity can be a torque output control device, which can be implemented as part or all of the electric vehicle through software, hardware, or a combination of both. The electric vehicle can be a regular electric vehicle or an intelligent autonomous electric vehicle.

[0030] In the following method embodiments, the execution subject is the motor control unit of an electric vehicle as an example for illustration. The motor control unit can be integrated through a microcontroller unit (MCU).

[0031] This invention provides a torque output control method that, in response to energy recovery activation, identifies the current operating condition. If the current operating condition is identified as a target energy recovery condition, a target damping torque calibration value is determined based on a preset correspondence between energy recovery conditions and damping torque calibration values. The energy recovery torque value output by the motor is then adjusted using the target damping torque calibration value. This torque output control method allows the motor control unit to quickly adjust the energy recovery torque value output by the motor without needing to interact with other control units through a gateway, thus simplifying the control process and improving control efficiency. Furthermore, adjusting the energy recovery torque value output by the motor control unit effectively avoids the inability to adjust the motor's energy recovery torque value in a timely manner due to network latency. This ensures timely adjustment of the motor's energy recovery torque value under the target energy recovery condition, preventing the ABS system from being falsely triggered, thereby helping to ensure vehicle stability and avoid affecting the user's riding experience.

[0032] Figure 1 This is a flowchart illustrating a torque output control method according to an exemplary embodiment. Figure 1 As shown, the torque output control method includes the following steps S101 to S103.

[0033] In step S101, the response energy recovery is initiated, and the current operating condition is identified.

[0034] In this embodiment of the invention, after energy recovery is initiated, the electric vehicle decelerates by generating electricity through braking with the motor. To avoid encountering sudden and extremely short-lived abnormal operating conditions during deceleration, the current operating condition is monitored in real time and identified.

[0035] For example, when an electric vehicle's wheels go over a speed bump, the wheels become airborne, causing a temporary suspension of the vehicle. During this suspension, due to the sudden loss of ground load, the negative energy recovery torque output by the motor can easily lock the airborne wheels, triggering the ABS system and causing the vehicle's energy recovery to shut down. After the wheels land on the ground, the ground load reappears, but energy recovery is off, giving passengers a strong feeling of the vehicle lurching forward. Therefore, to avoid this situation, the current operating conditions should be monitored in real time to identify the current conditions and adjust the energy recovery torque output by the motor accordingly.

[0036] In step S102, if the current operating condition is identified as the target energy recovery operating condition, the target damping torque calibration value corresponding to the target energy recovery operating condition is determined according to the preset correspondence between the energy recovery operating condition and the damping torque calibration value.

[0037] In this embodiment of the invention, the target energy recovery condition can be understood as a condition that affects the stability of the electric vehicle after energy recovery is initiated. For example, the target energy recovery condition may be a coasting energy recovery condition, or the target energy recovery condition may be a braking energy recovery condition.

[0038] To facilitate timely adjustment of the motor's output energy recovery torque value when the current operating condition is the target energy recovery condition, tests are conducted in advance for the target energy recovery condition. This determines the target damping torque calibration value that the motor can achieve deceleration while avoiding accidental triggering of the ABS system under the target energy recovery condition. A correspondence between the target energy recovery condition and the target damping torque calibration value is then established. When the current operating condition is identified as the target energy recovery condition, the target damping torque calibration value corresponding to the target energy recovery condition is determined based on this correspondence.

[0039] In step S103, the energy recovery torque value output by the motor is adjusted by the target damping torque calibration value.

[0040] In this embodiment of the invention, the energy recovery torque value output by the motor is adjusted by the target damping torque calibration value, so that the motor can adjust the torque output in a timely manner according to the current operating conditions, thereby controlling the vehicle stability in a timely manner and avoiding the situation where the ABS is falsely triggered, which would affect the user's riding experience. In one example, the energy recovery torque value output by the motor depends on the energy recovered when the electric vehicle starts energy recovery.

[0041] In one embodiment, a target damping torque calibration value is applied to the energy recovery torque value output by the motor, thereby adjusting the energy recovery torque value output by the motor. For example, if the energy recovery torque value output by the motor is -160 (Newton-meters (NM)) and the target damping torque calibration value is 80 NM, then 80 NM is applied to -160 NM, so that the final energy recovery torque value output by the motor is -160 NM + 80 NM = -80 NM.

[0042] Through the above embodiments, the motor control unit can quickly adjust the energy recovery torque value of the motor output, improve control efficiency, and effectively avoid the defect of not being able to adjust the energy recovery torque value of the motor output in time due to network latency. This prevents the ABS system from being falsely triggered, thereby ensuring vehicle stability in a timely manner, reducing the occurrence of vehicle loss of control, and helping to improve the user's riding experience.

[0043] The following examples will illustrate the specific identification process for the current operating condition.

[0044] In this invention, the current operating condition is identified based on the working state of the brake pedal and the current speed fluctuation frequency of the motor resolver.

[0045] Specifically, by judging the state of the brake pedal, it can be determined whether the current operating condition is a regenerative braking condition. For example, if the brake pedal is in the activated state, the current operating condition is a regenerative braking condition. If the brake pedal is in the deactivated state, the current operating condition may be a regenerative sliding condition.

[0046] By determining the current speed fluctuation frequency of the motor resolver, it's possible to determine whether the electric vehicle is currently traveling on surfaces prone to skidding, such as speed bumps, potholes, or high-friction transitions to low-friction. For example, if the electric vehicle is traveling on a regular road surface, the current speed fluctuation frequency of the motor resolver might be between 10-14 Hz. If the electric vehicle is traveling on surfaces prone to skidding, such as speed bumps, potholes, or high-friction transitions to low-friction, the current speed fluctuation frequency of the motor resolver might be between 0.5-2.5 Hz.

[0047] Therefore, based on the working state of the brake pedal and the current speed fluctuation frequency of the motor resolver, the current operating condition can be accurately identified.

[0048] In one embodiment, the target energy recovery condition includes a sliding energy recovery condition. Identifying the current condition as the target energy recovery condition includes: if the brake pedal is in a non-starting state and the current speed fluctuation frequency of the motor resolver falls within a specified frequency range, then the current condition is identified as a sliding energy recovery condition. Specifically, the specified frequency range is the default speed fluctuation frequency range of the motor resolver under the sliding energy recovery condition. When the brake pedal is in a non-starting state, it indicates that the current condition may be a sliding energy recovery condition. Once it is determined that the current speed fluctuation frequency of the motor resolver falls within the specified frequency range, the current condition can be determined to be a sliding energy recovery condition.

[0049] Furthermore, when the current operating condition is determined to be a sliding energy recovery operating condition, the first damping torque calibration value corresponding to the sliding energy recovery operating condition is determined as the target damping torque calibration value according to the preset correspondence between the energy recovery operating condition and the damping torque calibration value, so as to adjust the energy recovery torque value output by the motor through the first damping torque calibration value.

[0050] In another embodiment, the target energy recovery condition includes a braking energy recovery condition. Identifying the current condition as the target energy recovery condition includes: if the brake pedal is in an activated state, or if the brake pedal is in a deactivated state but the rotational speed fluctuation frequency of the motor resolver does not belong to a specified frequency range, then the current condition is identified as a braking energy recovery condition. That is, if the brake pedal is in an activated state, the current condition can be directly identified as a braking energy recovery condition. Alternatively, if the brake pedal is in a deactivated state but the rotational speed fluctuation frequency of the motor resolver does not belong to a specified frequency range, it indicates that although the current condition may be a sliding energy recovery condition, because the rotational speed fluctuation frequency of the motor resolver does not belong to a specified frequency range, it can be determined that the electric vehicle is not driving on a road surface that is prone to slippage, such as speed bumps, potholes, or high-friction transitions to low-friction, and therefore the current condition is identified as a braking energy recovery condition.

[0051] Furthermore, when the target energy recovery condition is determined to be the braking energy recovery condition, the second damping torque calibration value corresponding to the braking energy recovery condition is determined as the target damping torque calibration value based on the preset correspondence between the energy recovery condition and the damping torque calibration value, so as to adjust the energy recovery torque value output by the motor through the second damping torque calibration value.

[0052] In another embodiment, to improve the accuracy of torque output, after energy recovery is initiated, the speed fluctuation frequency of the motor resolver within a specified time (e.g., 10 milliseconds) is detected to obtain the speed fluctuation range. This speed fluctuation range is then filtered to obtain the current speed fluctuation frequency of the motor resolver, thus avoiding high-frequency compensation from abnormal speed fluctuation frequencies that could affect the accuracy of the energy recovery torque value output by the motor. In one implementation scenario, low-pass filtering can be used to suppress jitter.

[0053] Figure 2 This is a flowchart of another torque output control method proposed according to an exemplary embodiment. For example... Figure 2 As shown, the torque output control method includes the following steps.

[0054] In step S201, the response energy recovery is initiated, and the current operating condition is identified.

[0055] In step S202, if the current operating condition is identified as the target energy recovery operating condition, the target damping torque calibration value corresponding to the target energy recovery operating condition is determined according to the preset correspondence between the energy recovery operating condition and the damping torque calibration value.

[0056] In step S203, the energy recovery torque value output by the motor is adjusted by the target damping torque calibration value.

[0057] In step S204, if the current operating condition is identified as the default energy recovery operating condition, the energy recovery torque value output by the motor is not adjusted.

[0058] In this embodiment of the invention, if the current operating condition is identified as the default energy recovery operating condition, it indicates that the current operating condition will not affect the vehicle body stability of the electric vehicle. Therefore, the energy recovery torque value output by the motor does not need to be adjusted.

[0059] Through the above embodiments, the energy recovery torque value output by the motor can be flexibly adjusted according to the current operating conditions after energy recovery is started, which helps to ensure the stability of the vehicle body and avoids accidentally activating the ABS system during energy recovery, thereby improving the user's riding experience.

[0060] In one implementation scenario, the process of controlling torque output through the motor control unit can be as follows: Figure 3 As shown. Figure 3 This is a flowchart of yet another torque output control method proposed according to an exemplary embodiment.

[0061] In step S301, in response to the start of energy recovery, the speed fluctuation frequency of the motor resolver within a specified time is detected to obtain the current speed fluctuation frequency of the motor resolver.

[0062] In this embodiment of the invention, the speed fluctuation frequency of the motor resolver within a specified time is detected to obtain the speed fluctuation range, and then the speed fluctuation range is filtered to obtain the current speed fluctuation frequency of the motor resolver.

[0063] In step S302, the current operating condition is identified based on the working state of the brake pedal and the current speed fluctuation frequency of the motor resolver.

[0064] In step S303, if the current operating condition is identified as a sliding energy recovery operating condition, then according to the preset correspondence between the energy recovery operating condition and the damping torque calibration value, the first damping torque calibration value corresponding to the sliding energy recovery operating condition is determined as the target damping torque calibration value.

[0065] In step S304, if the current operating condition is identified as a braking energy recovery operating condition, then according to the preset correspondence between the energy recovery operating condition and the damping torque calibration value, the second damping torque calibration value corresponding to the braking energy recovery operating condition is determined as the target damping torque calibration value.

[0066] In step S305, the energy recovery torque value output by the motor is adjusted by the target damping torque calibration value.

[0067] In step S306, if the current operating condition is identified as the default energy recovery operating condition, the energy recovery torque value output by the motor is not adjusted.

[0068] In this invention, by controlling the energy recovery torque value output by the motor control unit, the electric vehicle can adjust the torque output in a timely manner when encountering road application scenarios such as speed bumps, potholes, and transitioning from high-adhesion to low-adhesion surfaces after energy recovery is initiated. This helps to prevent the ABS system from being falsely triggered, thereby helping to ensure the stability of the vehicle body and improving the user's riding experience.

[0069] Based on the same inventive concept, the present invention also provides a torque output control device.

[0070] Figure 4 This is a structural block diagram of a torque output control device according to an exemplary embodiment. Figure 4 As shown, the torque output control device includes an identification unit 401, a determination unit 402, and a first control unit 403.

[0071] The identification unit 401 is used to identify the current operating condition in response to the start of energy recovery;

[0072] The determining unit 402 is used to determine the target damping torque calibration value corresponding to the target energy recovery condition if the current working condition is identified as the target energy recovery working condition, based on the correspondence between the preset energy recovery working condition and the damping torque calibration value.

[0073] The first control unit 403 is used to adjust the energy recovery torque value output by the motor by means of a target damping torque calibration value.

[0074] In one embodiment, the identification unit 401 includes an identification subunit for identifying the current operating condition based on the working state of the brake pedal and the current speed fluctuation frequency of the motor resolver.

[0075] In another embodiment, the target energy recovery condition includes a sliding energy recovery condition; the identification subunit identifies the current condition based on the working state of the brake pedal and the current speed fluctuation frequency of the motor resolver: if the brake pedal is in a non-starting state and the current speed fluctuation frequency of the motor resolver is within a specified frequency range, then the current condition is identified as a sliding energy recovery condition; the determination unit 402 includes: a first determination unit, used to determine the first damping torque calibration value corresponding to the sliding energy recovery condition as the target damping torque calibration value according to the preset correspondence between the energy recovery condition and the damping torque calibration value.

[0076] In another embodiment, the target energy recovery condition includes a braking energy recovery condition; the identification subunit identifies the current condition based on the working state of the brake pedal and the current speed fluctuation frequency of the motor resolver: if the brake pedal is in the starting state, or the brake pedal is in the non-starting state but the speed fluctuation frequency of the motor resolver does not belong to the specified frequency range, then the current condition is identified as a braking energy recovery condition; the determination unit 402 includes: a second determination unit, used to determine the second damping torque calibration value corresponding to the braking energy recovery condition as the target damping torque calibration value according to the correspondence between the preset energy recovery condition and the damping torque calibration value.

[0077] In another embodiment, the device further includes: a detection unit for detecting the speed fluctuation frequency of the motor resolver within a specified time period to obtain the speed fluctuation range; and a filtering unit for filtering the speed fluctuation range to obtain the current speed fluctuation frequency of the motor resolver.

[0078] In another embodiment, the first control unit 403 includes an adjustment subunit for applying a target damping torque calibration value to the energy recovery torque value output by the motor, thereby adjusting the energy recovery torque value output by the motor.

[0079] In another embodiment, the device further includes a second control unit, configured not to adjust the energy recovery torque value output by the motor if the current operating condition is identified as the default energy recovery operating condition.

[0080] The specific limitations and beneficial effects of the aforementioned torque output control device can be found in the limitations of the torque output control method described above, and will not be repeated here. Each of the above modules can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in hardware or independently of the processor in the electric vehicle, or stored in software in the electric vehicle's memory, so that the processor can call and execute the corresponding operations of each module.

[0081] Figure 5 This is a schematic diagram of the hardware structure of an electric vehicle according to an exemplary embodiment. For example... Figure 5 As shown, the device includes one or more processors 510 and memory 520, which includes persistent memory, volatile memory, and a hard disk. Figure 5 Taking a processor 510 as an example, the device may also include an input device 530 and an output device 540.

[0082] The processor 510, memory 520, input device 530, and output device 540 can be connected via a bus or other means. Figure 4 Taking the example of a connection between China and Israel via a bus.

[0083] Processor 510 can be a Central Processing Unit (CPU). Processor 510 can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations thereof. The general-purpose processor can be a microprocessor or any conventional processor.

[0084] The memory 520, as a non-transitory computer-readable storage medium, includes persistent memory, volatile memory, and a hard disk. It can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the program instructions / modules corresponding to the business management method in this embodiment. The processor 510 executes various functional applications and data processing of the server by running the non-transitory software programs, instructions, and modules stored in the memory 520, thereby implementing any of the torque output control methods described above.

[0085] The memory 520 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data that is needed and required. Furthermore, the memory 520 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory 520 may optionally include memory remotely located relative to the processor 510, and these remote memories can be connected to the data processing device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0086] Input device 530 can receive input digital or character information, and generate key signal inputs related to user settings and function control. Output device 540 may include display devices such as a display screen.

[0087] One or more modules are stored in memory 520, and when executed by one or more processors 510, they perform actions such as... Figures 1-3 The method shown.

[0088] The above-described product can execute the method provided in the embodiments of the present invention, and has the corresponding functional modules and beneficial effects for executing the method. Technical details not described in detail in this embodiment can be found in [reference 1]. Figures 1-3 The relevant descriptions in the illustrated embodiments.

[0089] This invention also provides a non-transitory computer storage medium storing computer-executable instructions that can execute the authentication method in any of the above method embodiments. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk drive (HDD), or solid-state drive (SSD), etc.; the storage medium may also include combinations of the above types of memory.

[0090] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A method for controlling torque output, characterized in that, The method includes: Pre-testing is conducted for the target energy recovery conditions to determine the target damping torque calibration value that allows the motor to achieve deceleration while avoiding accidental triggering of the anti-lock braking system (ABS). This establishes a correspondence between the target energy recovery conditions and the target damping torque calibration value. The target energy recovery conditions are those that affect the stability of the electric vehicle after energy recovery is initiated; these conditions include both sliding energy recovery and braking energy recovery. In response to the start of energy recovery, the speed fluctuation frequency of the motor resolver is detected within a specified time to obtain the speed fluctuation range; the speed fluctuation range is then filtered to obtain the current speed fluctuation frequency of the motor resolver. Based on the working state of the brake pedal and the current speed fluctuation frequency of the motor resolver, the current operating condition is identified, including: if the brake pedal is in a non-starting state and the current speed fluctuation frequency of the motor resolver is within a specified frequency range, then the current operating condition is identified as a sliding energy recovery operating condition; if the brake pedal is in a non-starting state but the speed fluctuation frequency of the motor resolver is not within the specified frequency range, then the current operating condition is identified as a braking energy recovery operating condition. If the current operating condition is identified as the target energy recovery operating condition, then the target damping torque calibration value corresponding to the target energy recovery operating condition is determined according to the correspondence between the preset energy recovery operating condition and the damping torque calibration value. The energy recovery torque value output by the motor is adjusted by the target damping torque calibration value.

2. The method according to claim 1, characterized in that, The step of determining the target damping torque calibration value corresponding to the target energy recovery condition based on the pre-set correspondence between the energy recovery condition and the damping torque calibration value includes: Based on the correspondence between the preset energy recovery conditions and the damping torque calibration value, the first damping torque calibration value corresponding to the sliding energy recovery condition is determined as the target damping torque calibration value.

3. The method according to claim 1, characterized in that, The step of determining the target damping torque calibration value corresponding to the target energy recovery condition based on the pre-set correspondence between the energy recovery condition and the damping torque calibration value includes: Based on the correspondence between the preset energy recovery conditions and the damping torque calibration value, the second damping torque calibration value corresponding to the braking energy recovery condition is determined as the target damping torque calibration value.

4. The method according to claim 1, characterized in that, The adjustment of the energy recovery torque value output by the motor through the target damping torque calibration value includes: The target damping torque calibration value is applied to the energy recovery torque value output by the motor, and the energy recovery torque value output by the motor is adjusted.

5. The method according to claim 1, characterized in that, The method further includes: If the current operating condition is identified as the default energy recovery operating condition, the energy recovery torque value output by the motor will not be adjusted.

6. A torque output control device, characterized in that, The device includes: The identification unit is used to respond to the start of energy recovery, detect the speed fluctuation frequency of the motor resolver within a specified time, and obtain the speed fluctuation range; filter the speed fluctuation range to obtain the current speed fluctuation frequency of the motor resolver; and identify the current operating condition based on the working state of the brake pedal and the current speed fluctuation frequency of the motor resolver, including: if the brake pedal is in a non-starting state and the current speed fluctuation frequency of the motor resolver is within a specified frequency range, then the current operating condition is identified as a sliding energy recovery operating condition; if the brake pedal is in a non-starting state but the speed fluctuation frequency of the motor resolver is not within the specified frequency range, then the current operating condition is identified as a braking energy recovery operating condition. The determining unit is configured to, if the current operating condition is identified as a target energy recovery operating condition, determine the target damping torque calibration value corresponding to the target energy recovery operating condition based on the preset correspondence between the energy recovery operating condition and the damping torque calibration value; wherein, the target energy recovery operating condition includes sliding energy recovery operating condition and braking energy recovery operating condition; The first control unit is used to adjust the energy recovery torque value output by the motor according to the target damping torque calibration value; The device is used to pre-test the target energy recovery condition to determine the target damping torque calibration value under the target energy recovery condition, which can both achieve the purpose of deceleration and avoid accidentally triggering the anti-lock braking system. In this way, a correspondence is established between the target energy recovery condition and the target damping torque calibration value. The target energy recovery condition is the condition that affects the stability of the electric vehicle after the energy recovery is started.

7. An electric vehicle, characterized in that, The device includes a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to perform the torque output control method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to execute the torque output control method according to any one of claims 1-5.

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