A vehicle control method and system

Abstract

This application provides a vehicle control method and system. The method includes: an electronic stability control system (ESC) on a target vehicle acquiring the vehicle speed and lateral acceleration information of the target vehicle; the ESC determining the current motion condition of the target vehicle based on the vehicle speed and lateral acceleration information; when the current motion condition is a low-dynamic condition, the motor controller on the target vehicle performing torque reduction control to suppress vehicle slippage when it detects slippage; when the current motion condition is a high-dynamic condition, the vehicle controller on the target vehicle acquiring the driver's required torque and the ESC-calculated torque reduction torque; and performing corresponding control operations based on the driver's required torque and the ESC-calculated torque reduction torque. Therefore, this method and device can reduce response delay, thereby improving the speed of torque response and reducing the degree of vehicle slippage.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and more specifically, to a vehicle control method and system. Background Technology

[0002] Existing automotive traction control systems typically involve calculations by the electronic stability control system (ESC), which are then sent to the vehicle controller via the CAN bus. The vehicle controller processes the data before sending it to the motor controller for execution. However, in practice, it has been found that the CAN bus transmission delay, along with the relatively long execution cycles of the ESC and vehicle controller, results in an excessively long torque control chain. This leads to a significant delay in torque response, making electric vehicles more prone to slippage and causing instability. Summary of the Invention

[0003] The purpose of this application is to provide a vehicle control method and system that can reduce response delay, thereby improving the speed of torque response and reducing vehicle slippage.

[0004] The first aspect of this application provides a vehicle control method, including:

[0005] The electronic stability control system on the target vehicle acquires the vehicle speed and lateral acceleration information of the target vehicle;

[0006] The vehicle electronic stability system determines the current motion condition of the target vehicle based on the vehicle speed and the lateral acceleration information.

[0007] When the current motion condition is a low dynamic condition, the motor controller on the target vehicle performs torque reduction control when it detects that the target vehicle is slipping, in order to suppress the slipping of the target vehicle.

[0008] When the current motion condition is a high dynamic condition, the vehicle controller on the target vehicle acquires the torque demanded by the driver and the ESP torque reduction torque calculated by the electronic stability system; and performs corresponding control operations based on the torque demanded by the driver and the ESP torque reduction torque.

[0009] Furthermore, the method also includes:

[0010] When the current motion condition is a low dynamic condition, the motor controller on the target vehicle acquires the rate of change of motor speed;

[0011] The motor controller performs pre-slippage state detection based on the motor speed change rate and obtains the detection result.

[0012] The motor controller determines whether the target vehicle is slipping based on the detection result; if so, it performs torque reduction control when slipping of the target vehicle is detected.

[0013] Furthermore, when the motor controller on the target vehicle detects slippage in the target vehicle, it performs torque reduction control, including:

[0014] The motor controller enters the speed control mode to obtain the speed of the non-drive wheels;

[0015] The motor controller uses the speed of the non-drive wheel as a reference target to perform torque reduction control and detects the speed of the drive wheel;

[0016] When the motor controller detects that the deviation between the drive wheel speed and the reference target is less than a preset calibration threshold and has been stable for a preset time, it determines that slippage has been suppressed and exits the speed control mode.

[0017] Furthermore, before the vehicle controller on the target vehicle acquires the driver's required torque and the ESP torque reduction calculated by the electronic stability program, the method further includes:

[0018] When the current motion condition is a high dynamic condition, the vehicle electronic stability system acquires the current vehicle status information of the target vehicle;

[0019] The vehicle electronic stability system calculates the ESP torque reduction based on the vehicle status information;

[0020] The electronic stability system sends the ESP torque reduction to the vehicle controller on the target vehicle.

[0021] Furthermore, the vehicle controller performs corresponding control operations based on the driver's required torque and the ESP torque reduction torque, including:

[0022] The vehicle controller arbitrates the driver's required torque and the ESP torque reduction torque to obtain the target torque;

[0023] The vehicle controller sends the target torque to the motor controller via a CAN message, so that the motor controller can perform corresponding control operations based on the target torque.

[0024] A second aspect of this application provides a vehicle control system, which includes an electronic stability control system, a motor controller, and a vehicle controller; the vehicle control system is installed on a target vehicle; wherein...

[0025] The vehicle electronic stability system is used to acquire the vehicle speed and lateral acceleration information of the target vehicle; and to determine the current motion condition of the target vehicle based on the vehicle speed and lateral acceleration information.

[0026] The motor controller is used to perform torque reduction control when the current motion condition is a low dynamic condition and when the target vehicle is detected to be slipping, so as to suppress the slippage of the target vehicle.

[0027] The vehicle controller is used to acquire the driver's required torque and the ESP torque reduction calculated by the vehicle electronic stability system when the current motion condition is a high dynamic condition; and to perform corresponding control operations based on the driver's required torque and the ESP torque reduction control.

[0028] Furthermore, the motor controller is also configured to acquire the motor speed change rate when the current motion condition is a low dynamic condition; and to perform pre-slippage state detection based on the motor speed change rate to obtain a detection result; and to determine whether the target vehicle is slipping based on the detection result; if so, to perform torque reduction control when the target vehicle is detected to be slipping.

[0029] Furthermore, the motor controller is specifically configured to enter a speed control mode, acquire the speed of the non-drive wheel; and perform torque reduction control with the speed of the non-drive wheel as a reference target, and detect the speed of the drive wheel; and after detecting that the deviation between the speed of the drive wheel and the reference target is less than a preset calibration threshold and stabilizes for a preset time, determine that slippage has been suppressed, and exit the speed control mode.

[0030] Furthermore, the electronic stability system is also used to acquire the current vehicle status information of the target vehicle before the vehicle controller on the target vehicle acquires the driver's required torque and the ESP torque reduction calculated by the electronic stability system, and when the current motion condition is a high dynamic condition; and to calculate the ESP torque reduction based on the vehicle status information; and to send the ESP torque reduction to the vehicle controller on the target vehicle.

[0031] Furthermore, the vehicle controller is specifically used to arbitrate the driver's required torque and the ESP torque reduction torque to obtain a target torque; and to send the target torque to the motor controller via a CAN message, so that the motor controller can perform corresponding control operations based on the target torque.

[0032] A third aspect of this application provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor runs the computer program to cause the electronic device to perform any of the vehicle control methods described in the first aspect of this application.

[0033] A fourth aspect of this application provides a computer-readable storage medium storing computer program instructions, which, when read and executed by a processor, perform the vehicle control method described in any one of the first aspects of this application. Attached Figure Description

[0034] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 A schematic flowchart of a vehicle control method provided in an embodiment of this application;

[0036] Figure 2 A schematic flowchart illustrating another vehicle control method provided in an embodiment of this application;

[0037] Figure 3 This is a schematic diagram of the structure of a vehicle control system provided in an embodiment of this application;

[0038] Figure 4 This application provides a control architecture diagram for a vehicle control method according to an embodiment of the present application.

[0039] Figure 5 This is a schematic diagram of the control logic of a vehicle control method provided in an embodiment of this application;

[0040] Figure 6 This is a schematic diagram illustrating the architecture of a vehicle control method provided in an embodiment of this application. Detailed Implementation

[0041] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0042] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0043] Example 1

[0044] Please refer to Figure 1 , Figure 1 This embodiment provides a schematic flowchart of a vehicle control method. The vehicle control method includes:

[0045] S101. The electronic stability system on the target vehicle acquires the vehicle speed and lateral acceleration information of the target vehicle.

[0046] S102. The vehicle electronic stability system determines the current motion condition of the target vehicle based on the vehicle speed and lateral acceleration information.

[0047] S103. When the current motion condition is a low dynamic condition, the motor controller on the target vehicle performs torque reduction control when it detects that the target vehicle is slipping, in order to suppress the slipping of the target vehicle.

[0048] S104. When the current motion condition is a high dynamic condition, the vehicle controller on the target vehicle obtains the torque demanded by the driver and the torque reduction torque calculated by the electronic stability system (ESP); and performs corresponding control operations based on the torque demanded by the driver and the torque reduction torque of the ESP.

[0049] In this embodiment, the control architecture applied by the method is as follows: Figure 4 As shown in the figure. Among them, ESP divides the vehicle's operating status into low dynamic conditions and high dynamic conditions based on the vehicle's speed and lateral acceleration information.

[0050] In this embodiment, the first stage of the method (such as...) Figure 4 In the sequence ①): Under low dynamic operating conditions (generally the starting stage), the DCU internally judges the pre-slippage state based on the motor speed change rate. If slippage is detected, the DCU enters the speed control mode and uses the non-drive wheel speed as a reference target to reduce torque in advance to prevent excessive slippage. When the deviation between the drive wheel speed and the target speed is less than the calibrated threshold and stabilizes for a period of time, it is determined that the slippage has been suppressed, and the speed control mode is exited. The specific control logic is as follows: Figure 5 As shown.

[0051] In this embodiment, the second stage of the method (such as...) Figure 2 (Item ②) When the vehicle speed is higher than a certain threshold and there is a large lateral acceleration, the ESP determines that the vehicle is operating under high dynamic conditions. At this time, the ESP takes over the control, calculates the required torque reduction target based on the vehicle status information, and sends the activation status to the VCU. The VCU arbitrates the torque demanded by the driver and the torque reduction torque of the ESP, and sends the target torque to the DCU through the CAN message. Finally, the DCU executes the arbitrated torque.

[0052] In this embodiment, the subject executing the method can be a computing device such as a computer or server, and no limitation is made in this embodiment.

[0053] In this embodiment, the subject executing the method can also be a smart device such as a smartphone or tablet, and no limitation is made in this embodiment.

[0054] As can be seen, implementing the vehicle control method described in this embodiment can predict vehicle slippage in advance and reduce torque before TCS activation by using the DCU based on the rate of change of motor speed, thereby significantly reducing the degree of vehicle slippage. On the other hand, this method can also take advantage of the faster execution time of the DCU (DCU torque calculation cycle is 1ms, while VCU and ESP calculation cycles are 10-20ms, at least ten times faster), which improves the response time of the entire control loop by an order of magnitude and reduces the transmission time delay caused by the bus from 40ms to about 2ms, thereby improving the speed of torque response and reducing the degree of vehicle slippage.

[0055] Example 2

[0056] Please refer to Figure 2 , Figure 2 This embodiment provides a schematic flowchart of a vehicle control method. The vehicle control method includes:

[0057] S201. The electronic stability control system on the target vehicle acquires the vehicle speed and lateral acceleration information of the target vehicle.

[0058] S202. The vehicle electronic stability system determines the current motion condition of the target vehicle based on the vehicle speed and lateral acceleration information, and triggers the execution of steps S203 to S207 or S208 to S213.

[0059] S203. When the current motion condition is a low dynamic condition, the motor controller on the target vehicle acquires the rate of change of motor speed.

[0060] S204. The motor controller performs pre-slippage state detection based on the motor speed change rate and obtains the detection result.

[0061] S205. The motor controller determines whether the target vehicle is slipping based on the detection results. If so, the motor controller enters the speed control mode and obtains the speed of the non-drive wheels.

[0062] S206. The motor controller uses the speed of the non-drive wheel as a reference target to perform torque reduction control and detects the speed of the drive wheel.

[0063] S207. After the motor controller detects that the deviation between the drive wheel speed and the reference target is less than the preset calibration threshold and has been stable for a preset time, it determines that slippage has been suppressed and exits the speed control mode.

[0064] S208. When the current motion condition is a high dynamic condition, the vehicle electronic stability system obtains the current vehicle status information of the target vehicle.

[0065] S209, The Electronic Stability Control (ESC) system calculates the ESP torque reduction based on vehicle status information.

[0066] S210, the Electronic Stability Program (ESP) sends the ESP torque reduction to the vehicle controller on the target vehicle.

[0067] S211, The vehicle controller on the target vehicle obtains the torque demanded by the driver and the ESP torque reduction calculated by the electronic stability system.

[0068] S212, The vehicle controller arbitrates the driver's required torque and the ESP torque reduction torque to obtain the target torque.

[0069] S213. The vehicle controller sends the target torque to the motor controller via CAN message, so that the motor controller can perform corresponding control operations according to the target torque.

[0070] In this embodiment, the method has the following key technical features:

[0071] (1) It needs to have a speed detection function, which can calculate the speed of non-drive wheels and motor speed in real time;

[0072] (2) It needs to have a slippage detection function to determine in real time whether the vehicle is slipping;

[0073] (3) It needs to have a torque limiting function, and be able to calculate the limiting torque in real time when the vehicle is in the first stage of slippage before TCS is activated.

[0074] (4) It needs to have a low dynamic operating condition torque reduction function. When the TCS is activated and the vehicle is in the second stage of slippage, the target torque reduction torque is calculated in real time according to the vehicle slippage state.

[0075] As an optional implementation, the speed detection function can use the wheel speed collected by the wheel speed sensor instead of the motor speed calculated by the internal rotary transformer of the motor.

[0076] Implementing this method leverages the faster execution time of the DCU (DCU torque calculation cycle is 1ms, while VCU and ESP calculation cycles are 10-20ms, at least ten times faster), improving the overall control loop response time by an order of magnitude. It also reduces bus-related transmission delays from 40ms to approximately 2ms, thereby enhancing torque response speed and reducing vehicle slippage (e.g., ...). Figure 6 (As shown).

[0077] In this embodiment, the subject executing the method can be a computing device such as a computer or server, and no limitation is made in this embodiment.

[0078] In this embodiment, the subject executing the method can also be a smart device such as a smartphone or tablet, and no limitation is made in this embodiment.

[0079] As can be seen, implementing the vehicle control method described in this embodiment can predict vehicle slippage in advance and reduce torque before TCS activation by using the DCU based on the rate of change of motor speed, thereby significantly reducing the degree of vehicle slippage. Furthermore, this method can leverage the fast execution time of the DCU to improve the response time of the entire control loop by an order of magnitude and reduce the transmission time delay caused by the bus from 40ms to approximately 2ms, thereby improving the speed of torque response and reducing the degree of vehicle slippage.

[0080] Example 3

[0081] Please refer to Figure 3 , Figure 3 This is a schematic diagram of a vehicle control system provided in this embodiment. Figure 3 As shown, the vehicle control system includes an electronic stability control system 300, a motor controller 400, and a vehicle controller 500; the vehicle control system is installed on the target vehicle; wherein,

[0082] The vehicle electronic stability system 300 is used to acquire the vehicle speed and lateral acceleration information of the target vehicle; and to determine the current motion condition of the target vehicle based on the vehicle speed and lateral acceleration information.

[0083] The motor controller 400 is used to perform torque reduction control when the current motion condition is a low dynamic condition and when the target vehicle is detected to be slipping, so as to suppress the slippage of the target vehicle.

[0084] The vehicle controller 500 is used to acquire the driver's required torque and the ESP torque reduction calculated by the electronic stability system 300 when the current motion condition is a high dynamic condition; and to perform corresponding control operations based on the driver's required torque and the ESP torque reduction control.

[0085] As an optional implementation, the motor controller 400 is also used to acquire the rate of change of motor speed when the current motion condition is a low dynamic condition; and to perform pre-slippage state detection based on the rate of change of motor speed to obtain a detection result; and to determine whether the target vehicle is slipping based on the detection result; if so, to perform torque reduction control when the target vehicle is detected to be slipping.

[0086] As an optional implementation, the motor controller 400 is specifically used to enter the speed control mode, acquire the speed of the non-drive wheel; and perform torque reduction control with the speed of the non-drive wheel as a reference target, and detect the speed of the drive wheel; and after detecting that the deviation between the speed of the drive wheel and the reference target is less than a preset calibration threshold and stabilizes for a preset time, it determines that slippage has been suppressed and exits the speed control mode.

[0087] As an optional implementation, the vehicle electronic stability system 300 is also used to acquire the current vehicle status information of the target vehicle before the vehicle controller 500 on the target vehicle acquires the driver's required torque and the ESP torque reduction calculated by the vehicle electronic stability system 300, and when the current motion condition is a high dynamic condition; and to calculate the ESP torque reduction based on the vehicle status information; and to send the ESP torque reduction to the vehicle controller 500 on the target vehicle.

[0088] As an optional implementation, the vehicle controller 500 is specifically used to arbitrate the torque demanded by the driver and the torque reduction torque of the ESP to obtain the target torque; and to send the target torque to the motor controller 400 via a CAN message so that the motor controller 400 can perform corresponding control operations according to the target torque.

[0089] In this embodiment, the explanation of the vehicle control system can be referred to the description in Embodiment 1 or Embodiment 2, and will not be repeated here.

[0090] As can be seen, implementing the vehicle control system described in this embodiment can predict vehicle slippage in advance and reduce torque before TCS activation by using the DCU based on the rate of change of motor speed, thereby significantly reducing the degree of vehicle slippage. On the other hand, this device can also take advantage of the faster execution time of the DCU (DCU torque calculation cycle is 1ms, while VCU and ESP calculation cycles are 10-20ms, at least ten times faster), which improves the response time of the entire control loop by an order of magnitude and reduces the transmission time delay caused by the bus from 40ms to about 2ms, thereby improving the speed of torque response and reducing the degree of vehicle slippage.

[0091] This application provides an electronic device, including a memory and a processor. The memory stores a computer program, and the processor runs the computer program to enable the electronic device to perform the vehicle control method in embodiment 1 or embodiment 2 of this application.

[0092] This application provides a computer-readable storage medium storing computer program instructions, which are read and executed by a processor to perform the vehicle control method in embodiment 1 or embodiment 2 of this application.

[0093] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0094] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0095] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0096] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application. It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0097] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0098] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A vehicle control method, characterized in that, include: The electronic stability control system on the target vehicle acquires the vehicle speed and lateral acceleration information of the target vehicle; The vehicle electronic stability system determines the current motion condition of the target vehicle based on the vehicle speed and the lateral acceleration information. When the current motion condition is a low dynamic condition, the motor controller on the target vehicle performs torque reduction control when it detects that the target vehicle is slipping, in order to suppress the slipping of the target vehicle. When the current motion condition is a high dynamic condition, the vehicle controller on the target vehicle obtains the torque required by the driver and the ESP torque reduction calculated by the electronic stability system. And perform corresponding control operations based on the driver's required torque and the ESP torque reduction torque; Specifically, when the vehicle speed is higher than the speed threshold and the lateral acceleration is greater than the acceleration threshold, the ESP determines that the vehicle is operating under high dynamic conditions. The vehicle controller performs corresponding control operations based on the driver's required torque and the ESP torque reduction torque, including: The vehicle controller arbitrates the driver's required torque and the ESP torque reduction torque to obtain the target torque, which is used to suppress slippage. The vehicle controller sends the target torque to the motor controller (DCU) via a CAN message, so that the motor controller (DCU) can perform corresponding control operations based on the target torque to improve the speed of torque response.

2. The vehicle control method according to claim 1, characterized in that, The method further includes: When the current motion condition is a low dynamic condition, the motor controller on the target vehicle acquires the rate of change of motor speed; The motor controller performs pre-slippage state detection based on the motor speed change rate and obtains the detection result. The motor controller determines whether the target vehicle is slipping based on the detection result; if so, it performs torque reduction control when slipping of the target vehicle is detected.

3. The vehicle control method according to claim 1, characterized in that, When the motor controller on the target vehicle detects slippage in the target vehicle, it performs torque reduction control, including: The motor controller enters the speed control mode to obtain the speed of the non-drive wheels; The motor controller uses the speed of the non-drive wheel as a reference target to perform torque reduction control and detects the speed of the drive wheel; When the motor controller detects that the deviation between the drive wheel speed and the reference target is less than a preset calibration threshold and has been stable for a preset time, it determines that slippage has been suppressed and exits the speed control mode.

4. The vehicle control method according to claim 1, characterized in that, Before the vehicle controller on the target vehicle acquires the driver's required torque and the ESP torque reduction calculated by the electronic stability program (ESP), the method further includes: When the current motion condition is a high dynamic condition, the vehicle electronic stability system acquires the current vehicle status information of the target vehicle; The vehicle electronic stability system calculates the ESP torque reduction based on the vehicle status information; The electronic stability system sends the ESP torque reduction to the vehicle controller on the target vehicle.

5. A vehicle control system, characterized in that, The vehicle control system includes an electronic stability control system, a motor controller, and a vehicle controller; the vehicle control system is installed on the target vehicle; wherein... The vehicle electronic stability system is used to acquire the vehicle speed and lateral acceleration information of the target vehicle; and to determine the current motion condition of the target vehicle based on the vehicle speed and lateral acceleration information. The motor controller is used to perform torque reduction control when the current motion condition is a low dynamic condition and when the target vehicle is detected to be slipping, so as to suppress the slippage of the target vehicle. The vehicle controller is used to acquire the driver's required torque and the ESP torque reduction calculated by the vehicle electronic stability system when the current motion condition is a high dynamic condition; and to perform corresponding control operations based on the driver's required torque and the ESP torque reduction control. Specifically, when the vehicle speed is higher than the speed threshold and the lateral acceleration is greater than the acceleration threshold, the ESP determines that the vehicle is operating under high dynamic conditions. Specifically, the vehicle controller is used to arbitrate the driver's required torque and the ESP torque reduction torque to obtain a target torque for suppressing slippage; and to send the target torque to the motor controller DCU via a CAN message so that the motor controller DCU can perform corresponding control operations based on the target torque to improve the speed of torque response.

6. The vehicle control system according to claim 5, characterized in that, The motor controller is further configured to acquire the motor speed change rate when the current motion condition is a low dynamic condition; and to perform pre-slippage state detection based on the motor speed change rate to obtain a detection result; And based on the detection results, determine whether the target vehicle is skidding; If so, perform torque reduction control when the target vehicle is detected to be slipping.

7. The vehicle control system according to claim 5, characterized in that, The motor controller is specifically configured to enter a speed control mode, acquire the speed of the non-drive wheel, perform torque reduction control with the non-drive wheel speed as a reference target, and detect the speed of the drive wheel; and after detecting that the deviation between the drive wheel speed and the reference target is less than a preset calibration threshold and stabilizes for a preset time, determine that slippage has been suppressed and exit the speed control mode.

8. The vehicle control system according to claim 5, characterized in that, The electronic stability system is also used to acquire the current vehicle status information of the target vehicle before the vehicle controller on the target vehicle acquires the torque demanded by the driver and the ESP torque reduction calculated by the electronic stability system, and when the current motion condition is a high dynamic condition. And calculate the ESP torque reduction based on the vehicle status information; and send the ESP torque reduction to the vehicle controller on the target vehicle.

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