Torque control method, device, equipment and storage medium for new energy vehicles

Abstract

The present application discloses a torque control method, apparatus, device, and storage medium for a new energy vehicle, which are applied to a controller. The controller includes a monitoring layer module and a functional layer module. The functional layer module is used to calculate the actual value of the motor's required torque, and the monitoring layer module is used to calculate the monitoring value of the motor's required torque. The torque control method includes: the monitoring layer module obtains a first monitoring value and a first actual value for the first motor's required torque; when a first difference between the first actual value and the first monitoring value exceeds a first safety threshold, the first motor's required torque is reduced, and the second motor's required torque is obtained and output to the functional layer module; a second actual value and a second monitoring value for the second motor's required torque are obtained; when a second difference between the second monitoring value and the second actual value exceeds a second safety threshold, the second motor's required torque is set to zero. The technical solution provided by the present application can reduce the safety risks caused by false triggering of torque monitoring.

Description

Technical Field

[0001] The present application belongs to the technical field of new energy vehicles, and in particular relates to a torque control method, device, equipment and storage medium for new energy vehicles. Background Art

[0002] As the application of new energy vehicles gradually increases, the driving safety of new energy vehicles becomes particularly important, mainly reflected in the very strict requirements for the driving torque control of new energy vehicles.

[0003] Currently, torque control is typically achieved by monitoring torque. If an abnormal torque is detected, the vehicle enters a safe state of zero torque control. However, during the torque monitoring process, there is a risk of false triggering of the torque monitoring at various stages, forcing the vehicle into a safe state of zero torque. If a false triggering of the zero torque state causes the vehicle to enter a safe state while driving, it can cause a loss of power, posing unknown safety risks. Summary of the Invention

[0004] The embodiments of the present application provide a torque control method, apparatus, device and storage medium for a new energy vehicle, thereby reducing the safety risks caused by false triggering of torque monitoring at least to a certain extent.

[0005] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by practice of the present application.

[0006] According to a first aspect of an embodiment of the present application, a torque control method for a new energy vehicle is provided, which is applied to a controller. The controller includes a monitoring layer module and a functional layer module. The functional layer module is used to calculate an actual value of a motor demand torque, and the monitoring layer module is used to calculate a monitoring value of the motor demand torque. The torque control method includes:

[0007] The monitoring layer module obtains a first monitoring value and a first actual value of the required torque of the first motor;

[0008] When a first difference between the first actual value and the first monitoring value exceeds a first safety threshold, reducing the first motor required torque, obtaining and outputting a second motor required torque to the functional layer module;

[0009] Acquire a second monitoring value and a second actual value of the required torque of the second motor;

[0010] When a second difference between the second actual value and the second monitored value exceeds a second safety threshold, the second motor requested torque is set to zero.

[0011] In some embodiments of the present application, based on the above solution, the torque control method further includes:

[0012] When the first difference exceeds the first safety threshold, a torque intervention flag is output to the functional layer module, so that the functional layer module responds to the second motor required torque based on the torque intervention flag.

[0013] In some embodiments of the present application, based on the above solution, the torque control method further includes:

[0014] When the second difference does not exceed the second safety threshold, the torque intervention flag is cleared.

[0015] In some embodiments of the present application, based on the above solution, reducing the required torque of the first motor includes:

[0016] Reduce the power of the motor or reduce the speed of the new energy vehicle to reduce the torque required by the first motor.

[0017] In some embodiments of the present application, based on the above solution, the torque control method further includes:

[0018] Determine driver demand torque;

[0019] The first motor required torque is determined according to the driver required torque.

[0020] In some embodiments of the present application, based on the above solution, determining the driver's required torque includes:

[0021] Acquire creep torque, accelerator pedal torque, energy recovery torque and body stability intervention torque;

[0022] The sum of the creep torque, the accelerator pedal torque, the energy recovery torque and the vehicle body stability intervention torque is used as the driver demand torque.

[0023] In some embodiments of the present application, based on the above solution, determining the first motor required torque according to the driver required torque includes:

[0024] Determine the power limit of the motor based on the output power of the power battery and the power consumption of the high-voltage components;

[0025] The driver's required torque is limited according to the power limit value to obtain the first motor's required torque.

[0026] According to a second aspect of an embodiment of the present application, a torque control device for a new energy vehicle is provided, which is applied to a controller. The controller includes a monitoring layer module and a functional layer module. The functional layer module is used to calculate an actual value of a motor demand torque, and the monitoring layer module is used to calculate a monitoring value of the motor demand torque. The torque control device includes:

[0027] a first data acquisition unit, configured to acquire a first monitoring value and a first actual value of a required torque of the first motor;

[0028] a torque adjustment unit, configured to reduce the first motor required torque when a first difference between the first actual value and the first monitoring value exceeds a first safety threshold, and obtain and output a second motor required torque to the functional layer module;

[0029] a second data acquisition unit, configured to acquire a second monitoring value and a second actual value of the required torque of the second motor;

[0030] The zero torque control unit is configured to set the second motor required torque to zero when a second difference between the second actual value and the second monitoring value exceeds a second safety threshold.

[0031] In some embodiments of the present application, based on the aforementioned scheme, the torque control device also includes a flag setting unit, which is used to output a torque intervention flag to the functional layer module when the first difference exceeds the first safety threshold, so that the functional layer module responds to the required torque of the second motor based on the torque intervention flag.

[0032] In some embodiments of the present application, based on the aforementioned solution, the flag setting unit is further configured to clear the torque intervention flag when the second difference does not exceed the second safety threshold.

[0033] In some embodiments of the present application, based on the aforementioned solution, the torque adjustment unit is further used to reduce the power of the motor or reduce the speed of the new energy vehicle to reduce the required torque of the first motor.

[0034] In some embodiments of the present application, based on the aforementioned solution, the torque control device further includes a motor required torque determination unit, configured to determine a driver required torque; and determine the first motor required torque based on the driver required torque.

[0035] In some embodiments of the present application, based on the aforementioned scheme, the motor required torque determination unit is also used to obtain creep torque, accelerator pedal torque, energy recovery torque and body stability intervention torque; the sum of the creep torque, accelerator pedal torque, energy recovery torque and body stability intervention torque is used as the driver required torque.

[0036] In some embodiments of the present application, based on the aforementioned scheme, the motor required torque determination unit is also used to determine the power limit of the motor according to the output power of the power battery and the power consumption of the high-voltage components; and limit the driver required torque according to the power limit to obtain the first motor required torque.

[0037] According to a third aspect of an embodiment of the present application, a torque control device for a new energy vehicle is provided, comprising a processor and a memory, wherein the memory stores computer program instructions that can be executed by the processor, and when the processor executes the computer program instructions, it implements the instructions of the method described in any one of the first aspects above.

[0038] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, in which computer program instructions are stored. The computer program instructions are loaded and executed by a processor to implement the operations performed by the method described in any one of the first aspects above.

[0039] In the present application, a first monitoring value and a first actual value of the required torque of the first motor are obtained through the monitoring layer module; when the first difference between the first actual value and the first monitoring value exceeds the first safety threshold, the required torque of the first motor is reduced, and the required torque of the second motor is obtained and output to the functional layer module; a second monitoring value and a second actual value of the required torque of the second motor are obtained; and when the second difference between the second actual value and the second monitoring value exceeds the second safety threshold, the required torque of the second motor is set to zero. Specifically, by intervening in the torque when the monitored value and the actual value exceed the first safety threshold, and rechecking the monitored value and the actual value after the intervention, the motor required torque is set to zero only when the monitored value and the actual value exceed the second safety threshold, the problem of forcing the torque of the control function layer to enter zero torque control when the torque check of the monitoring layer mistakenly detects a torque abnormality is solved, which leads to the loss of vehicle power, and reduces the safety risk caused by the false triggering of the torque monitoring.

[0040] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings are incorporated into and constitute a part of the specification, illustrating embodiments consistent with the present application and, together with the specification, explaining the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can derive other drawings based on these drawings without inventive effort. In the drawings:

[0042] Figure 1 A diagram showing an application environment of a torque control method for a new energy vehicle according to an embodiment is shown;

[0043] Figure 2 A schematic flow chart of a torque control method for a new energy vehicle in one embodiment is shown;

[0044] Figure 3 A schematic flow chart of a torque control method for a new energy vehicle in another embodiment is shown;

[0045] Figure 4 A block diagram of a torque control device for a new energy vehicle according to an embodiment is shown;

[0046] Figure 5 A schematic structural diagram of a torque control device for a new energy vehicle in one embodiment is shown. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0048] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner.In the following description, many specific details are provided so as to provide a full understanding of the embodiments of the present application. However, it will be appreciated by those skilled in the art that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps etc. can be adopted. In other cases, known methods, devices, implementations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0049] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically separate entities. That is, these functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0050] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, while others may be combined or partially combined. Therefore, the actual execution order may vary depending on the actual situation.

[0051] It should also be noted that the terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than that shown or described.

[0052] In order to make those skilled in the art better understand this application, first combine Figure 1 A brief description of the application scenarios involved in this application is given.

[0053] See also Figure 1 , shows a scenario schematic diagram of the torque control method for a new energy vehicle to which the embodiment of the present application can be applied.

[0054] The controller includes a monitoring layer module 101 and a functional layer module 102. Functional layer module 101 is used to calculate the actual value of the motor's required torque, while monitoring layer module 102 is used to calculate the monitored value of the motor's required torque. Monitoring layer module 101 communicates with functional layer module 102, obtaining the actual value of the motor's required torque calculated by functional layer module 102. Based on the monitored value of the motor's required torque calculated by monitoring layer module 101, monitoring layer module 101 performs a torque check on the obtained actual value to determine whether the torque calculated by functional layer module 102 is abnormal. If the torque is abnormal, monitoring layer module 101 intervenes in the torque control by reducing the motor's required torque and outputs the reduced motor's required torque to functional layer module 102, so that functional layer module 102 responds to the torque. Monitoring layer module 101 performs a torque check again to determine whether the torque calculated by functional layer module 102 after the intervention is abnormal. If the torque is still abnormal, the motor's required torque is set to zero, thus implementing zero torque control. By performing two torque checks and only causing the functional layer module 102 to enter zero torque control when both torque check results are abnormal, the problem of the functional layer module 102 being forced to enter zero torque control due to false triggering of torque monitoring, resulting in loss of vehicle power, is reduced.

[0055] Figure 2 A schematic diagram of a torque control method for a new energy vehicle in one embodiment is shown. Figure 2 As shown, a torque control method for a new energy vehicle is provided. Figure 1 Taking the monitoring layer module in

[15] as an example, the method may include the following steps:

[0056] Step 201: Acquire a first monitoring value and a first actual value of a required torque of a first motor.

[0057] The first monitoring value Tq1 refers to the motor demand torque calculated by the monitoring layer module before torque intervention, and the first actual value Tq2 refers to the motor demand torque calculated by the functional layer module before torque intervention.

[0058] Specifically, the monitoring layer module may directly obtain the first monitoring value Tq1 through calculation, and send a data acquisition instruction to the functional layer module to obtain the first actual value Tq2 from the functional layer module.

[0059] Step 202 : When a first difference between the first actual value and the first monitoring value exceeds a first safety threshold, the first motor required torque is reduced, and a second motor required torque is obtained and output to the functional layer module.

[0060] The first safety threshold T1 can be set according to actual conditions, and this embodiment does not limit this.

[0061] It should be understood that when the first difference between the first actual value Tq2 and the first monitoring value Tq1 exceeds the first safety threshold T1, that is, Tq2-Tq1>T1, it can be determined that the torque is abnormal and intervention control of the torque is required, such as reducing the required torque of the first motor.

[0062] Specifically, the required torque of the first motor can be reduced by reducing the power of the motor or reducing the speed of the new energy vehicle, thereby ensuring that the vehicle enters a safe state of functional degradation.

[0063] During implementation, when the first difference exceeds the first safety threshold, the monitoring layer module may output a torque intervention flag to the functional layer module, so that the functional layer module responds to the torque demand of the second motor based on the torque intervention flag.

[0064] For example, the torque intervention flag Flag is set. If Tq2-Tq1>T1, the flag is set to 1, that is, Flag=1.

[0065] Step 203: Acquire a second monitoring value and a second actual value of the required torque of the second motor.

[0066] Among them, the second monitoring value Tq3 refers to the motor demand torque calculated by the front monitoring layer module after torque intervention, and the second actual value Tq4 refers to the motor demand torque calculated by the functional layer module after torque intervention.

[0067] When the monitoring layer module sets the torque intervention flag to Flag=1, the second torque monitoring check is activated.

[0068] Specifically, the monitoring layer module can directly obtain the second monitoring value Tq3 through calculation after the torque intervention, and send a data acquisition instruction to the functional layer module after the torque intervention to obtain the second actual value Tq4 from the functional layer module.

[0069] Step 204 : When a second difference between the second actual value and the second monitoring value exceeds a second safety threshold, the required torque of the second motor is set to zero.

[0070] The second safety threshold T2 can be set according to actual conditions and can be other values smaller than the first safety threshold T1 , which is not limited in this embodiment.

[0071] It should be understood that when the second difference between the second actual value Tq4 and the second monitoring value Tq3 exceeds the second safety threshold T2, that is, Tq4-Tq3>T2, it can be determined that the torque is out of control, that is, the torque intervention of the monitoring layer module has not enabled the functional layer module to restore the normal torque control logic. At this time, it is necessary to set the required torque of the first motor to zero and output zero torque to the functional layer module, so that the functional layer module responds to zero torque and enters the safe state of zero torque control.

[0072] Of course, if the second difference between the second actual value Tq4 and the second monitoring value Tq3 does not exceed the second safety threshold T2, that is, Tq4-Tq3≦T2, it can be determined that the torque is not out of control. In other words, after the torque intervention of the monitoring layer module, the functional layer module restores normal torque control logic. At this time, it is necessary to clear the torque intervention flag and set it to 0.

[0073] Compared to existing technical solutions, this embodiment reduces the problem of vehicle power loss caused by the vehicle directly entering zero torque control when a torque anomaly is detected. Specifically, when a torque anomaly is detected, this embodiment first intervenes in the torque control to effectively determine whether the torque calculation of the functional layer module has failed. Furthermore, through this intervention control algorithm, the torque of the functional layer module can be intervened to a controllable safe state. Therefore, this embodiment can enter the corresponding safe state (this state includes vehicle torque power limit, vehicle speed limit, and vehicle zero torque control, etc., to ensure that the vehicle enters a functionally degraded safe state) while also avoiding the vehicle power loss caused by directly entering zero torque control.

[0074] In one embodiment, the torque control method may further include the following steps: determining a driver's required torque; and determining a first motor's required torque based on the driver's required torque.

[0075] When calculating the driver's required torque, four parts of torque can be calculated, namely creep torque, accelerator pedal torque, energy recovery torque and body stability intervention torque.

[0076] Specifically, the creep torque, accelerator pedal torque, energy recovery torque and body stability intervention torque can be obtained; and the sum of the creep torque, accelerator pedal torque, energy recovery torque and body stability intervention torque is used as the driver demand torque.

[0077] For creep torque, when the vehicle is equipped with a creep control function, the creep target speed will be used as a closed-loop control, and the creep torque will be obtained by adjusting the PID parameters; for accelerator pedal torque, after the controller processes the accelerator pedal voltage sampling signal, the throttle opening signal can be obtained, and the accelerator pedal torque corresponding to different driving modes can be synchronously calculated based on the throttle opening signal; for energy recovery torque, the torque recovered by vehicle coasting and the braking energy recovery torque after the braking signal is activated can be calculated, and the two torques are added together to obtain the energy recovery torque; for body stability intervention torque, it is mainly used for vehicle torque increase and torque reduction control to ensure body stability performance.

[0078] After determining the driver's required torque, the torque chain needs to be allocated, including calculating the output power of the power battery, the power limit of the motor, and the power consumption of the vehicle's high-voltage components. Finally, the high-voltage components are allocated to ensure the vehicle's entertainment (such as low-voltage electrical switches or instrument screens), comfort (such as the power allocated by the air conditioner), and drivability functions.

[0079] Finally, the power limit of the motor can be determined based on the output power of the power battery and the power consumption of the high-voltage components; the driver's required torque is limited according to the power limit to obtain the first motor required torque.

[0080] Specifically, the power consumption of the high-voltage components can be subtracted from the output power of the power battery to obtain the power limit of the motor. The driver's required torque can then be limited based on the power limit, and the filter parameters can be adjusted to obtain the first motor required torque to ensure driving stability.

[0081] By performing block calculations on the torque link, including driver demand torque calculation and torque link allocation, the motor demand torque is finally obtained. This realizes the calculation of the motor demand torque based on the vehicle's functions and actual applications, improves the accuracy of the motor demand torque, and thus improves the accuracy of torque control.

[0082] Figure 3 A schematic flow chart of a torque control method for a new energy vehicle in another embodiment is shown. Figure 3 As shown, a torque control method for a new energy vehicle is provided, which may include the following steps:

[0083] Step 301 , obtaining creep torque, accelerator pedal torque, energy recovery torque, and vehicle stability intervention torque, and taking the sum of the creep torque, accelerator pedal torque, energy recovery torque, and vehicle stability intervention torque as the driver demand torque;

[0084] Step 302 , determining a power limit of the motor based on the output power of the power battery and the power consumption of the high-voltage components, and limiting the driver's required torque based on the power limit to obtain a first motor required torque;

[0085] Step 303: Acquire a first monitoring value and a first actual value of a required torque of the first motor;

[0086] Step 304: When a first difference between the first actual value and the first monitoring value exceeds a first safety threshold, the power of the motor is reduced or the speed of the new energy vehicle is reduced to reduce the first motor required torque, thereby obtaining a second motor required torque, and outputting a torque intervention flag to the functional layer module so that the functional layer module responds to the second motor required torque based on the torque intervention flag.

[0087] Step 305 , obtaining a second monitoring value and a second actual value of the required torque of the second motor;

[0088] Step 306 , when a second difference between the second actual value and the second monitored value exceeds a second safety threshold, setting the required torque of the second motor to zero;

[0089] Step 307 : when the second difference does not exceed the second safety threshold, clear the torque intervention flag.

[0090] This embodiment calculates the corresponding driver torque based on the driver torque corresponding to different driver demands (such as the accelerator pedal torque demand and the assisted driving torque demand). After calculation and allocation through the torque link, the torque demand is ultimately output to the first motor. During the torque monitoring process, the first motor torque demand is verified. When the difference between the first actual value Tq2 calculated by the functional layer module and the first monitoring value Tq1 calculated by the monitoring layer module exceeds the first safety threshold T1, the monitoring layer module sets the torque intervention flag Flag = 1. At this point, the torque intervention flag is output to the functional layer module, and both the monitoring layer module and the functional layer module perform post-intervention torque calculations. After the torque intervention, post-intervention torque verification is activated. If the difference between the second actual value Tq4 calculated by the functional layer module and the second monitoring value Tq3 calculated by the monitoring layer module exceeds the second safety threshold T2, the monitoring layer module determines that the torque is out of control and enters zero torque control. If the difference does not exceed the second safety threshold T2, the monitoring layer module clears the torque intervention flag and sets Flag = 0 to avoid false detection of torque verification failures.

[0091] The above solution can effectively carry out torque control interaction and reduce the problem of vehicle power loss caused by forcing the torque of the control function layer module to enter zero torque control once the monitoring layer module mistakenly detects torque abnormality.

[0092] The following describes an embodiment of the device of the present application, which can be used to implement the torque control method for a new energy vehicle described in the above-mentioned embodiment of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the torque control method for a new energy vehicle described in the above-mentioned embodiment of the present application.

[0093] See also Figure 4 , shows a block diagram of the torque control device of the new energy vehicle in an embodiment of the present application.

[0094] like Figure 4 As shown, the torque control device of the new energy vehicle of the embodiment of the present application is applied to a controller, and the controller includes a monitoring layer module and a functional layer module. The functional layer module is used to calculate the actual value of the motor demand torque, and the monitoring layer module is used to calculate the monitoring value of the motor demand torque. The torque control device includes: a first data acquisition unit 401, a torque adjustment unit 402, a second data acquisition unit 403 and a zero torque control unit 404, wherein the first data acquisition unit 401 is used to obtain a first monitoring value and a first actual value for the first motor demand torque; the torque adjustment unit 402 is used to reduce the first motor demand torque when a first difference between the first actual value and the first monitoring value exceeds a first safety threshold, and obtain and output the second motor demand torque to the functional layer module; the second data acquisition unit 403 is used to obtain a second monitoring value and a second actual value for the second motor demand torque; the zero torque control unit 404 is used to set the second motor demand torque to zero when a second difference between the second actual value and the second monitoring value exceeds a second safety threshold.

[0095] In some embodiments of the present application, based on the aforementioned scheme, the torque control device also includes a flag setting unit (not shown in the figure), which is used to output a torque intervention flag to the functional layer module when the first difference exceeds the first safety threshold, so that the functional layer module responds to the required torque of the second motor based on the torque intervention flag.

[0096] In some embodiments of the present application, based on the aforementioned solution, the flag setting unit is further configured to clear the torque intervention flag when the second difference does not exceed the second safety threshold.

[0097] In some embodiments of the present application, based on the aforementioned solution, the torque adjustment unit 402 is further configured to reduce the power of the motor or reduce the speed of the new energy vehicle to reduce the required torque of the first motor.

[0098] In some embodiments of the present application, based on the aforementioned scheme, the torque control device further includes a motor demand torque determination unit (not shown) for determining the driver demand torque; and determining the first motor demand torque based on the driver demand torque.

[0099] In some embodiments of the present application, based on the aforementioned scheme, the motor required torque determination unit is also used to obtain creep torque, accelerator pedal torque, energy recovery torque and body stability intervention torque; the sum of creep torque, accelerator pedal torque, energy recovery torque and body stability intervention torque is used as the driver required torque.

[0100] In some embodiments of the present application, based on the aforementioned scheme, the motor required torque determination unit is also used to determine the power limit of the motor according to the output power of the power battery and the power consumption of the high-voltage components; and limit the driver's required torque according to the power limit to obtain the first motor required torque.

[0101] Based on the same inventive concept, the present application also provides a torque control device for a new energy vehicle, referring to Figure 5 , shows a structural schematic diagram of the torque control device of a new energy vehicle in an embodiment of the present application. The torque control device of the new energy vehicle includes one or more memories 504, one or more processors 502, and at least one computer program (computer program instruction) stored in the memory 504 and executable on the processor 502. When the processor 502 executes the computer program, the above method is implemented.

[0102] Among them, Figure 5 In the embodiment of the present invention, a bus architecture (represented by bus 500) is shown. Bus 500 may include any number of interconnected buses and bridges, and bus 500 links various circuits including one or more processors represented by processor 502 and memory represented by memory 504. Bus 500 may also link various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. Bus interface 505 provides an interface between bus 500 and receiver 501 and transmitter 503. Receiver 501 and transmitter 503 may be the same component, namely a transceiver, which provides a unit for communicating with various other devices over a transmission medium. Processor 502 is responsible for managing bus 500 and general processing, while memory 504 may be used to store data used by processor 502 when performing operations.

[0103] Based on the same inventive concept, an embodiment of the present application provides a computer-readable storage medium, in which at least one computer program instruction is stored. The at least one computer program instruction is loaded and executed by a processor to implement the operations performed by the previous method.

[0104] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored as one or more instructions or codes on or transmitted via a computer-readable medium. Other examples and implementations are within the scope and spirit of this application and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwiring, or a combination of any of these. Furthermore, the functional units may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit.

[0105] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of units can be a logical function division. In actual implementation, there may be other division methods, 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 through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0106] The units described as separate components may or may not be physically separate, and the components of the control device may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0107] 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 technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk, and other media that can store computer program instructions.

[0108] The above are merely examples of the present application and are not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included within the scope of the claims of the present application.

Claims

1. A torque control method for a new energy vehicle, applied to a controller, characterized in that: The controller includes a monitoring layer module and a functional layer module, wherein the functional layer module is used to calculate the actual value of the motor demand torque, and the monitoring layer module is used to calculate the monitoring value of the motor demand torque. The torque control method includes: The monitoring layer module obtains a first monitoring value and a first actual value of the required torque of the first motor; When a first difference between the first actual value and the first monitoring value exceeds a first safety threshold, reducing the first motor required torque, obtaining and outputting a second motor required torque to the functional layer module; Acquire a second monitoring value and a second actual value of the required torque of the second motor; When a second difference between the second actual value and the second monitoring value exceeds a second safety threshold, setting the second motor demand torque to zero; The torque control method further includes: Acquire creep torque, accelerator pedal torque, energy recovery torque and body stability intervention torque; taking the sum of the creep torque, the accelerator pedal torque, the energy recovery torque and the vehicle stability intervention torque as the driver demand torque; The first motor required torque is determined according to the driver required torque.

2. The torque control method according to claim 1, characterized in that: The torque control method further includes: When the first difference exceeds the first safety threshold, a torque intervention flag is output to the functional layer module, so that the functional layer module responds to the second motor required torque based on the torque intervention flag.

3. The torque control method according to claim 2, characterized in that: The torque control method further includes: When the second difference does not exceed the second safety threshold, the torque intervention flag is cleared.

4. The torque control method according to claim 1, characterized in that: The reducing the required torque of the first motor includes: Reduce the power of the motor or reduce the speed of the new energy vehicle to reduce the torque required by the first motor.

5. The torque control method according to claim 1, characterized in that: The determining the first motor required torque according to the driver required torque includes: Determine the power limit of the motor based on the output power of the power battery and the power consumption of the high-voltage components; The driver's required torque is limited according to the power limit value to obtain the first motor's required torque.

6. A torque control device for a new energy vehicle, applied to a controller, characterized in that: The controller includes a monitoring layer module and a functional layer module, wherein the functional layer module is used to calculate the actual value of the motor demand torque, and the monitoring layer module is used to calculate the monitoring value of the motor demand torque. The torque control device includes: a first data acquisition unit, configured to acquire a first monitoring value and a first actual value of a required torque of the first motor; a torque adjustment unit, configured to reduce the first motor required torque when a first difference between the first actual value and the first monitoring value exceeds a first safety threshold, and obtain and output a second motor required torque to the functional layer module; a second data acquisition unit, configured to acquire a second monitoring value and a second actual value of the required torque of the second motor; a zero torque control unit for setting the second motor demand torque to zero when a second difference between the second actual value and the second monitoring value exceeds a second safety threshold; The motor required torque determination unit is used to obtain creep torque, accelerator pedal torque, energy recovery torque and body stability intervention torque, take the sum of the creep torque, accelerator pedal torque, energy recovery torque and body stability intervention torque as the driver required torque, and determine the first motor required torque based on the driver required torque.

7. A torque control device for a new energy vehicle, comprising a processor and a memory, characterized in that: The memory stores computer program instructions that can be executed by the processor, and when the processor executes the computer program instructions, the processor implements the method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer program instructions, which are loaded and executed by a processor to implement the operations performed by the method according to any one of claims 1 to 5.

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