Vehicle torque control method, device, new energy vehicle and storage medium

Abstract

The present application relates to the field of new energy vehicles, and provides a vehicle torque control method, device, new energy vehicle and storage medium. The method includes: in the online car-hailing mode, screening out target orders; if it is monitored that the vehicle is in an energy recovery condition, controlling the vehicle to enter a first control mode, determining the recovery torque attenuation factor and sending it to the motor controller, so that the motor controller gradually reduces the vehicle coasting recovery torque value of the drive motor through the transmission system according to the recovery torque attenuation factor; if the vehicle is in a driving condition, controlling the vehicle to enter a second control mode, determining the drive torque attenuation gradient and sending it to the motor controller, so that the motor controller performs gradient attenuation on the vehicle demand torque of the drive motor through the transmission system according to the drive torque attenuation gradient. The present application can achieve more intelligent vehicle torque control, better improve the convenience of online car-hailing operation, and at the same time improve the safety and comfort of online car-hailing travel.

Description

Technical Field

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

[0002] In recent years, with the rapid development of the automotive industry and internet technology, ride-hailing has become an important mode of transportation. Major automakers have also launched specialized models specifically for the travel market.

[0003] At present, the vast majority of special versions of online ride-hailing vehicles have basically only made adaptation adjustments to the relevant hardware configurations of mass-produced models. For example, ordinary hinged side doors are replaced with sliding doors that are more convenient for getting on and off the vehicle, and special / larger luggage storage space is set up in the vehicle.

[0004] However, there is limited research on software-based comfort and safety control systems, such as vehicle dynamic response and occupant monitoring. For example, how to achieve more intelligent vehicle torque control to better enhance the convenience of online ride-hailing operations while improving the safety and comfort of ride-hailing trips. Summary of the Invention

[0005] In view of this, the embodiments of the present application provide a vehicle torque control method, device, new energy vehicle and storage medium, aiming to achieve more intelligent vehicle torque control, better improve the convenience of online car-hailing operation, and at the same time improve the safety and comfort of online car-hailing travel.

[0006] According to a first aspect of an embodiment of the present application, a vehicle torque control method is provided, comprising:

[0007] In the online ride-hailing mode, obtaining the current vehicle location, the remaining battery power value, the average energy consumption value, and the online ride-hailing order set of the vehicle, where the online ride-hailing order set includes multiple first candidate orders, each of which includes at least a pick-up location and a drop-off location;

[0008] Filtering a target order from multiple first candidate orders based on the current vehicle location, remaining battery charge, and average energy consumption, where the target order includes a target pickup location and a target drop-off location;

[0009] If it is detected that the vehicle has arrived at the target pickup location, that the passenger has boarded the vehicle and is seated, and that the vehicle is in an energy recovery state, then a vehicle coasting recovery torque value of the vehicle's drive motor is obtained, the vehicle is controlled to enter a first control mode, a recovery torque attenuation factor is determined, and the recovery torque attenuation factor is sent to a motor controller, so that the motor controller gradually reduces the vehicle coasting recovery torque value of the drive motor through a transmission system according to the recovery torque attenuation factor;

[0010] If the vehicle is in a driving condition, the vehicle's required torque for the drive motor is obtained, and the vehicle is controlled to enter the second control mode, and the drive torque attenuation gradient is determined, and the drive torque attenuation gradient is sent to the motor controller, so that the motor controller can gradiently attenuate the vehicle's required torque for the drive motor through the transmission system according to the drive torque attenuation gradient.

[0011] According to a second aspect of the embodiments of the present application, a vehicle torque control device is provided, comprising:

[0012] an acquisition module configured to, in an online ride-hailing mode, acquire a current vehicle location, a remaining battery charge value, an average energy consumption value, and an online ride-hailing order set of the vehicle, the online ride-hailing order set including a plurality of first candidate orders, each of which includes at least a pick-up location and a drop-off location;

[0013] a screening module configured to screen a target order from a plurality of first candidate orders based on a current vehicle location, a remaining battery charge value, and an average energy consumption value, the target order including a target pickup location and a target drop-off location;

[0014] The first control module is configured to, if it is detected that the vehicle has arrived at the target passenger pickup location, that the passenger has boarded the vehicle and is seated, and that the vehicle is in an energy recovery state, obtain a vehicle coasting recovery torque value of the vehicle's drive motor, control the vehicle to enter a first control mode, determine a recovery torque attenuation factor, and send the recovery torque attenuation factor to a motor controller, so that the motor controller gradually reduces the vehicle coasting recovery torque value of the drive motor through the transmission system according to the recovery torque attenuation factor;

[0015] The second control module is configured to obtain the vehicle's required torque of the drive motor if the vehicle is in a driving condition, control the vehicle to enter a second control mode, determine the drive torque attenuation gradient, and send the drive torque attenuation gradient to the motor controller, so that the motor controller can gradiently attenuate the vehicle's required torque of the drive motor through the transmission system according to the drive torque attenuation gradient.

[0016] A third aspect of the embodiments of the present application provides a new energy vehicle, including a vehicle controller, a motor controller, a drive motor, and a transmission system;

[0017] The vehicle controller is used to implement the vehicle torque control method of the first aspect to send the recovery torque attenuation factor or the driving torque attenuation gradient to the motor controller;

[0018] The motor controller is used to gradually reduce the vehicle coasting recovery torque value of the drive motor through the transmission system according to the recovery torque attenuation factor, or to gradually attenuate the vehicle demand torque of the drive motor through the transmission system according to the driving torque attenuation gradient.

[0019] According to a fourth aspect of the embodiments of the present application, a computer-readable storage medium is provided, which stores a computer program. When the computer program is executed by a processor, the steps of the above method are implemented.

[0020] Compared with the prior art, the embodiments of the present application have at least the following beneficial effects: On the one hand, the embodiments of the present application can improve the travel efficiency of online car-hailing by screening out target orders from multiple first candidate orders in the online car-hailing order set according to the current vehicle position, the remaining power value of the battery pack, and the average energy consumption value in the online car-hailing mode, and avoid the problem that the journey cannot be completed normally or efficiently due to factors such as the vehicle's cruising range. On the other hand, the embodiments of the present application can determine the current working condition of the vehicle after monitoring that the vehicle has arrived at the target pick-up location and that the passenger has boarded the vehicle and taken a seat, and control the vehicle to enter different control modes according to the specific working condition of the vehicle, thereby achieving more intelligent vehicle torque control, which can better improve the convenience of online car-hailing operation, while improving the safety and comfort of online car-hailing travel. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0022] Figure 1 This is a schematic diagram of an application scenario of an embodiment of the present application;

[0023] Figure 2 This is a flow chart of a vehicle torque control method provided in an embodiment of the present application;

[0024] Figure 3 This is a schematic diagram of a driving plan route for a first candidate order in the vehicle torque control method provided in an embodiment of the present application;

[0025] Figure 4 This is a schematic diagram of a combined driving route of a target order in the vehicle torque control method provided in an embodiment of the present application;

[0026] Figure 5 is a schematic diagram of a vehicle torque control device provided in an embodiment of the present application;

[0027] Figure 6 This is a structural diagram of a new energy vehicle provided in an embodiment of the present application;

[0028] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0029] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0030] A vehicle torque control method, device, and new energy vehicle according to an embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0031] Figure 1 1 is a schematic diagram of an application scenario of an embodiment of the present application. The application scenario may include a new energy vehicle 101 and a dispatching system 102. The new energy vehicle 101 and the dispatching system 102 may be connected via a network. The network may be a wired network connected by coaxial cables, twisted pairs, and optical fibers, or a wireless network that can interconnect various communication devices without wiring, such as Bluetooth, near field communication (NFC), infrared, etc., which is not limited in the embodiment of the present application.

[0032] New energy vehicles 101, including but not limited to the vehicle control unit (VCU), IVI, battery pack, motor controller, drive motor, transmission system, etc.

[0033] IVI (In-vehicle infotainment) refers to the in-vehicle infotainment system, which usually refers to the vehicle's central control unit with a display screen.

[0034] The order dispatching system usually refers to a third-party service platform, such as a Didi travel platform or a group taxi platform.

[0035] In one application scenario, when the new energy vehicle 101 receives the online car-hailing mode activation information sent by IVI through the vehicle controller, it can be determined that the vehicle is in the online car-hailing mode. At this time, the remaining power value of the battery pack can be further collected through the vehicle controller, and the average energy consumption value of the vehicle can be obtained. At the same time, the online car-hailing order collection sent by the dispatch system 102 can be received. Afterwards, the vehicle controller selects a target order from multiple first candidate orders based on the current vehicle position, the remaining battery power value, and the average energy consumption value. The target order includes a target pick-up position and a target drop-off position. If the vehicle controller detects that the vehicle has arrived at the target pick-up position, and detects that the passenger has boarded the vehicle and taken a seat, and the vehicle is in an energy recovery condition, the vehicle coasting recovery torque value of the vehicle's drive motor is obtained, and the vehicle is controlled to enter a first control mode, and the recovery torque attenuation factor is determined, and the recovery torque attenuation factor is sent to the motor controller, so that the motor controller gradually reduces the vehicle coasting recovery torque value of the drive motor through the transmission system according to the recovery torque attenuation factor. If the vehicle is in a driving condition, the vehicle demand torque of the vehicle's drive motor is obtained, and the vehicle is controlled to enter a second control mode, and the drive torque attenuation gradient is determined, and the drive torque attenuation gradient is sent to the motor controller, so that the motor controller performs gradient attenuation of the vehicle demand torque of the drive motor through the transmission system according to the drive torque attenuation gradient. Through the above method, the travel efficiency of online ride-hailing can be improved, and the problem of not being able to complete the journey normally or efficiently due to factors such as vehicle range can be avoided. In addition, more intelligent vehicle torque control can be achieved, which can better improve the convenience of online ride-hailing operation and at the same time improve the safety and comfort of online ride-hailing travel.

[0036] Figure 2 It is a flow chart of a vehicle torque control method provided in an embodiment of the present application. Figure 2 The vehicle torque control method can be obtained by Figure 1 The vehicle controller in the new energy vehicle 101 is executed. Figure 2 As shown, the vehicle torque control method includes the following steps:

[0037] Step S201, in the online car-hailing mode, obtain the vehicle's current vehicle position, battery pack remaining power value, average energy consumption value and online car-hailing order set, the online car-hailing order set includes multiple first candidate orders, each first candidate order includes at least a pick-up location and a drop-off location.

[0038] The online ride-hailing model generally refers to the operating / business model of online ride-hailing services. These models can be categorized into taxi, express, ride-sharing, and private car models; C2C (where a company provides an independent third-party business car service platform, matching users with car service providers (such as private car owners or car rental companies) through a website or mobile app to facilitate transactions), and B2C (where a private car company provides its own vehicles and professional drivers, similar to a taxi company operating its own business).

[0039] The vehicle controller can monitor the remaining power of the battery pack in real time and read the remaining SOC value of the battery pack (i.e. the remaining power of the battery pack).

[0040] The average energy consumption value usually refers to the average energy consumption per 100 kilometers estimated by the vehicle controller based on the vehicle's driving conditions.

[0041] In one embodiment, when the vehicle controller receives the online car-hailing mode activation information sent by the IVI, it automatically connects to the dispatching system 102 and obtains the online car-hailing order set issued by the dispatching system 102.

[0042] The pick-up location is where passengers get on the bus, and the drop-off location is where passengers get off the bus.

[0043] In addition to the pick-up location and drop-off location, each first candidate order may also include the passenger's basic information (such as contact number, passenger name, etc.), planned driving route, etc.

[0044] In some embodiments, the vehicle controller can identify the driver's pupil opening and blinking frequency through the DMS (driver monitoring system) and the in-vehicle camera respectively. If it is identified that the driver's pupil opening is less than a preset threshold (for example, 20 mm, etc.) or the blinking frequency is less than a preset threshold (for example, 1 time / second), a steering wheel vibration request is immediately sent to the BCM (Body Control Module), and the main driver's side audio and instrument are requested to provide sound and light prompts to promptly remind the driver of fatigue, distraction, etc. At the same time, the vehicle controller can send a temporary suspension order application to the dispatch system 102. Upon receiving the temporary suspension order application, the dispatch system 102 will temporarily not issue a collection of online car-hailing orders to the vehicle controller. When the vehicle controller recognizes that the driver's pupil opening is greater than or equal to a preset threshold (for example, 20 mm, etc.) or the blinking frequency is greater than or equal to a preset threshold (for example, 1 time / second), it sends an order acceptance application to the dispatch system 102. At this time, when the dispatch system 102 receives the order acceptance application, it can issue an online car-hailing order set to the vehicle controller.

[0045] Before accepting an order, the vehicle controller identifies the driver's pupil dilation and blinking frequency through the DMS driver monitoring system and the in-vehicle camera respectively, ensuring that the driver is not driving fatigued before sending an order application to the dispatch system 102 and receiving the online car-hailing order collection issued by the dispatch system 102. This can effectively avoid the driver from driving fatigued in order to accept orders, thereby ensuring the travel safety of the driver and passengers.

[0046] Step S202 , based on the current vehicle location, the remaining battery power value, and the average energy consumption value, a target order is selected from multiple first candidate orders, where the target order includes a target pick-up location and a target drop-off location.

[0047] In step S203, if it is monitored that the vehicle has arrived at the target pick-up location, and that the passenger has boarded the vehicle and taken his seat, and the vehicle is in an energy recovery condition, the vehicle's entire coasting recovery torque value of the drive motor is obtained, and the vehicle is controlled to enter the first control mode. The recovery torque attenuation factor is determined and sent to the motor controller, so that the motor controller gradually reduces the vehicle's entire coasting recovery torque value of the drive motor through the transmission system according to the recovery torque attenuation factor.

[0048] Energy recovery operating condition refers to the condition in which the vehicle is in coasting energy recovery or braking energy recovery.

[0049] The vehicle's coasting recovery torque value is the maximum coasting energy recovery torque allowed for the vehicle.

[0050] The regenerative torque attenuation factor (RTF) is the magnitude of the reduction in the vehicle's coasting energy regenerative torque at the same vehicle speed and master cylinder pressure. It represents the proportional coefficient between the vehicle's coasting energy regenerative torque value after the reduction and the vehicle's original value. Its value ranges from 0 to 1. This RTF can be calibrated based on actual vehicle drivability and ride comfort.

[0051] As an example, assuming the vehicle's coasting regenerative torque value is T1 and the regenerative torque attenuation factor is α, the target coasting regenerative torque value T2 = T1 * α. The motor controller gradually reduces the vehicle's coasting regenerative torque value of the drive motor through the transmission system according to the regenerative torque attenuation factor. Specifically, the motor controller may calculate the target coasting regenerative torque value T2 according to the above formula, and then gradually reduce the vehicle's coasting regenerative torque value T1 of the drive motor to the target coasting regenerative torque value T2 through the transmission system.

[0052] The first control mode can be understood as a mode of energy recovery torque limitation.

[0053] In step S204, if the vehicle is in a driving condition, the vehicle's required torque for the drive motor is obtained, and the vehicle is controlled to enter the second control mode, and the drive torque attenuation gradient is determined, and the drive torque attenuation gradient is sent to the motor controller, so that the motor controller can gradiently attenuate the vehicle's required torque for the drive motor through the transmission system according to the drive torque attenuation gradient.

[0054] The driving condition refers to the working state of the car when it is driven by power.

[0055] The driving torque decay gradient, or the rate of change in the vehicle's required torque, can be understood as the time it takes for the vehicle's required torque to decrease from a certain initial value to another. For example, if the vehicle's required torque decreases from an initial value of -1000 Nm to -500 Nm in 500 milliseconds, the driving torque decay gradient is -1 Nm / millisecond.

[0056] The technical solution provided by the embodiment of the present application, on the one hand, can improve the travel efficiency of online car-hailing by screening out the target order from multiple first candidate orders in the online car-hailing order set according to the current vehicle position, the remaining power value of the battery pack, and the average energy consumption value in the online car-hailing mode, and avoid the problem that the journey cannot be completed normally or efficiently due to factors such as vehicle range. On the other hand, after monitoring that the vehicle has arrived at the target pick-up location and that the passenger has boarded the vehicle and taken a seat, the embodiment of the present application determines the current working condition of the vehicle, and controls the vehicle to enter different control modes according to the specific working condition of the vehicle, thereby achieving more intelligent vehicle torque control, which can better improve the convenience of online car-hailing operation, while improving the safety and comfort of online car-hailing travel.

[0057] In some embodiments, the above step S202 specifically includes:

[0058] Calculate the remaining mileage of the vehicle based on the remaining power value of the battery pack and the average energy consumption value;

[0059] Search for the location of the refueling station closest to the drop-off location of each first candidate order;

[0060] The target order is selected from multiple first candidate orders based on the remaining drivable mileage, the current vehicle location, the pick-up location, the drop-off location, the refueling station location of each first candidate order, and the preset redundant mileage.

[0061] First, based on the capacity C of the battery pack and the remaining power value φ of the battery pack soc , the average energy consumption value τ, and the remaining mileage L of the vehicle is calculated according to formula (1).

[0062]

[0063] In formula (1), C represents the battery pack capacity in kilowatt-hours (kW h), which is determined according to the vehicle configuration parameters; φ soc Indicates the remaining charge value of the battery pack (i.e., the remaining SOC value of the battery pack); τ represents the average energy consumption of the vehicle, which is the energy consumption value per 100 kilometers calculated by the VCU based on the driving conditions, and the unit is kilowatt-hour / 100 kilometers (kW·h / 100km).

[0064] As an example, assume that the set of online taxi orders currently received by the vehicle controller includes the first candidate orders 01, 02, 03, 04, and 05. Among them, the driving planning routes of the first candidate orders 01, 02, 03, 04, and 05 are as follows: Figure 3 The first driving routes 01, 02, 03, 04, and 05 in the figure are shown in Figure 1. Point A represents the current vehicle location. Taking the first candidate order 01 as an example, the path node order of the first driving route 01 is A→B1→C1→D1, where point B1 represents the pick-up location for the first candidate order 01, point C1 represents the drop-off location for the first candidate order 01, and point D1 represents the closest refueling station location to the drop-off location in the first candidate order 01. The refueling station location typically refers to a charging service station or a gas station location.

[0065] For example, the vehicle controller can search for the recharging station near the drop-off location (point C1) based on the first driving route 01 corresponding to the first candidate order 01 in the online car-hailing order set issued by the dispatch system 102, and then calculate the distance values ​​between point C1 and each recharging station. The location of the recharging station with the smallest distance value is the recharging station location closest to the drop-off location (point C1) of the first candidate order 01.

[0066] Similarly, the above method can be used to search for the closest refueling station location to the drop-off location of the first candidate orders 02, 03, 04, and 05, respectively. This will not be repeated here. For example, the closest refueling station locations to the drop-off location of the first candidate orders 02, 03, 04, and 05 are points D1, D2, D3, and D3, respectively.

[0067] Next, for each first candidate order, a first mileage is calculated based on the current vehicle position and the pick-up location, a second mileage is calculated based on the pick-up location and the drop-off location, and a third mileage is calculated based on the drop-off location and the refueling station location; the total mileage of each first candidate order is calculated based on the first mileage, the second mileage, the third mileage, and the preset redundant mileage; at least one second candidate order is selected from the multiple first candidate orders based on the total mileage and the remaining mileage; and one or more of the at least one second candidate order are selected as target orders.

[0068] As an example, continuing with the first candidate order 01, based on the position information of point A and point B1 in the first driving route 01 of the first candidate order 01, the first driving mileage L1, that is, the path length of A→B1, is calculated; based on the position information of point B1 and point C1, the second driving mileage L2, that is, the path length of B1→C1, is calculated; based on the position information of point C1 and point D1, the third driving mileage L3, that is, the path length of C1→D1, is calculated.

[0069] To improve the efficiency of online ride-hailing services, avoid trips that cannot be completed normally or efficiently due to factors such as vehicle range, and prevent the vehicle's energy from being completely exhausted before reaching a refueling station, a redundant mileage is generally set. This redundant mileage can be flexibly set according to actual conditions and can generally be set to 1 to 30 kilometers. This redundant mileage can be understood as the energy remaining to support the vehicle's travel for an additional distance after the vehicle meets all the path nodes of the target driving route corresponding to the target order and reaches the target refueling station closest to the target drop-off location. This mileage is the redundant mileage and can be recorded as L4.

[0070] Calculate the total mileage L of the first candidate order 01 according to formula (2) 01 .

[0071] L 01 =L1+L2+L3+L4 (2).

[0072] Similarly, the total mileage L of the second candidate orders 02, 03, 04, and 05 02 , L 03 , L 04 and L 05 Refer to the total mileage L of the first candidate order 01 above 01 The calculation method is used to calculate , which will not be repeated here.

[0073] In the first case, if the vehicle's remaining mileage, L, is greater than or equal to the sum of the mileages of any of the first candidate orders 01, 02, 03, 04, and 05, all of the first candidate orders 01, 02, 03, 04, and 05 are identified as second candidate orders, denoted as second candidate orders 01, 02, 03, 04, and 05, respectively. The vehicle controller then further searches to see if there are ① two second candidate orders where L is greater than or equal to the sum of any two mileages, ② three second candidate orders where L is greater than or equal to the sum of any three mileages, ③ four second candidate orders where L is greater than or equal to the sum of any four mileages, or ④ one of the five second candidate orders where L is greater than or equal to the sum of these five mileages. If none of these conditions, ①, ②, ③, or ④, are met, then one of the second candidate orders 01, 02, 03, 04, and 05 is randomly selected as the target order. For example, second candidate order 01 (corresponding to first candidate order 01) can be selected as the target order.

[0074] In the second case, if the above situation ① is satisfied, assuming that L≥L 01 +L 02 Or L≥L 04 +L 05 , then, you can choose to take the second candidate order 01 and the second candidate order 02 as the target order, or take the second candidate order 04 and the second candidate order 05 as the target order. For example, assuming that the second candidate order 01 and the second candidate order 02 are selected as the target order, the vehicle controller can further merge and adjust the first driving route 01 and the second driving route 02 to obtain the following Figure 4 Merged route 01 is shown.

[0075] Similarly, if one or more of situations ②, ③, and ④ are met, you can refer to the handling method of the second situation above to merge and adjust the driving routes involved to obtain the corresponding merged driving route, which will not be repeated here.

[0076] In some embodiments, real-time road traffic information of the driving route corresponding to each second candidate order can also be obtained, and one or more can be selected as target orders from at least one second candidate order in combination with the real-time road traffic information, fully considering the real-time traffic status, which is conducive to improving the efficiency and quality of order completion, thereby improving the travel experience of passengers.

[0077] In some embodiments, the regeneration torque attenuation factor may be determined according to the following steps:

[0078] Monitor the vehicle's real-time speed and real-time brake master cylinder pressure value;

[0079] A regenerative torque attenuation factor is determined based on the real-time vehicle speed and the real-time brake master cylinder pressure value.

[0080] In practical applications, a corresponding relationship table between vehicle speed, brake master cylinder pressure value and regenerative torque attenuation factor can be pre-calibrated and confirmed based on the actual vehicle's drivability and ride comfort, as shown in Table 1 below.

[0081] Table 1 Correspondence between vehicle speed, brake master cylinder pressure value and recovery torque attenuation factor

[0082]

[0083] In combination with Table 1 above, in one example, assuming that the vehicle controller monitors the vehicle's real-time speed I V1 and the real-time brake master cylinder pressure value P1, then by looking up Table 1, the corresponding recovery torque attenuation factor can be determined to be α 11 .

[0084] In some embodiments, in step S203, gradually reducing the vehicle coasting recovery torque value according to the recovery torque attenuation factor includes:

[0085] Collect facial feature information of passengers in the vehicle;

[0086] If the passenger in the vehicle is determined to be a special care passenger based on the facial feature information, the recovery torque attenuation factor is adjusted to obtain an adjusted recovery torque attenuation factor;

[0087] The adjusted recovery torque attenuation factor is sent to the motor controller, so that the motor controller gradually reduces the vehicle coasting recovery torque value of the drive motor through the transmission system according to the adjusted recovery torque attenuation factor.

[0088] Facial feature information refers to the facial feature information of a person, mainly including facial contour feature points, facial features feature points, skin condition information, hair color, etc.

[0089] Special care passengers usually refer to the elderly, children, pregnant women or those who are ill.

[0090] As an example, assume that the regenerative torque attenuation factor is determined to be α based on the monitored real-time vehicle speed and real-time brake master cylinder pressure value. 11 , the vehicle controller collects the facial feature information of the passenger in the car through the camera in the car, and after analysis, confirms that the passenger in the car is a special care passenger (such as an elderly person around 70 years old), then the recovery torque attenuation factor can be appropriately set to α 11 Adjust the recovery torque attenuation factor α' 11 Then, the adjustment recovery torque attenuation factor α' 11 Send it to the motor controller so that the motor controller can adjust the recovery torque attenuation factor α'11 The vehicle coasting recovery torque value of the drive motor is gradually reduced through the transmission system.

[0091] In some embodiments, if the target pickup location and / or target drop-off location of the target order is a hospital or school (such as a kindergarten, elementary school or junior high school), the recovery torque attenuation factor can also be appropriately set to α 11 Adjust it a little bit to get the adjustment of the recovery torque attenuation factor α" 11 .

[0092] In an embodiment of the present application, if the vehicle controller identifies the facial feature information of the passenger in the vehicle and confirms that the passenger in the vehicle is a special care passenger, then it can make adjustments based on the recovery torque attenuation factor obtained by looking up the table to slow down the vehicle's coasting energy recovery torque value at the same vehicle speed and brake master cylinder pressure value, so that the deceleration value caused by the negative torque of energy recovery during coasting and braking is smaller, avoiding the discomfort of riding caused by frequent acceleration and deceleration of the vehicle when driving in urban areas, thereby reducing the dizziness caused by the rapid change of the negative torque of the vehicle when the passengers are riding, and ensuring the standardization and safety of driving behavior during driving.

[0093] In some embodiments, determining the drive torque decay gradient includes:

[0094] Obtain the vehicle's required torque value, the torque output value of the previous cycle, and the vehicle's standard driving torque attenuation gradient in ride-hailing mode;

[0095] Set the driving torque gradient attenuation factor according to the vehicle's required torque value and the torque output value of the previous cycle;

[0096] The driving torque attenuation gradient of the vehicle in the online car-hailing mode is determined based on the standard driving torque gradient and the driving torque gradient attenuation factor.

[0097] Car driving modes are mainly divided into three modes: standard mode, economic mode and sports mode.

[0098] In Standard mode, the vehicle's driving plan remains at its most standard, with no changes to the vehicle's injectors, throttle, and other functions. This mode offers a certain degree of fuel efficiency and a certain degree of power. It's generally used on urban and rural roads.

[0099] In Economy mode, the vehicle comprehensively assesses operating conditions that affect fuel consumption, such as vehicle speed, engine speed, and transmission gear position. As the vehicle is driving, the ECU calculates the optimal amount of fuel to deliver to the engine, effectively reducing fuel consumption. Economy mode is typically used when driving on highways.

[0100] In Sport mode, the steering wheel becomes heavier, the suspension becomes stiffer, and there is a delay in shifting up, making the vehicle more stable while driving. It also increases the engine speed, keeping it in a constant state of acceleration, which allows for a quicker response to refueling, resulting in better driving performance and more power. Sport mode is generally used on mountain roads, muddy roads, and when climbing hills.

[0101] The standard driving torque attenuation gradient refers to the normal driving torque attenuation gradient of the vehicle in the online car-hailing mode.

[0102] The drive torque gradient attenuation factor is the reduction ratio of the standard drive torque gradient. For example, if the standard drive torque gradient is 5 Nm / ms and the drive torque gradient attenuation factor is 0.5, the standard drive torque gradient is reduced from 5 Nm / ms to 2.5 Nm / ms, a reduction ratio of 1 / 2. The drive torque gradient attenuation factor ranges from 0 to 1, with a typical range of 0.5 to 0.8.

[0103] The driving torque gradient attenuation factor is set according to the vehicle's required torque value and the torque output value of the previous cycle. Specifically, the torque difference between the vehicle's required torque value and the torque output value of the previous cycle can be calculated, and then the driving torque gradient attenuation factor can be set based on the torque difference by looking up the table.

[0104] The driving torque attenuation gradient is the product of the standard driving torque attenuation gradient and the driving torque gradient attenuation factor. For example, if the standard driving torque attenuation gradient is 5 Nm / ms and the driving torque gradient attenuation factor is 0.5, then the driving torque attenuation gradient is 2.5 Nm / ms.

[0105] When the driving torque gradient attenuation factor is equal to 1, the driving torque attenuation gradient is the fastest gradient calibrated for the vehicle. The motor controller controls the driving torque output gradient of the drive motor through the traditional system to output according to the fastest gradient calibrated for the vehicle.

[0106] When the drive torque gradient attenuation factor is equal to 0, the drive torque attenuation gradient is the slowest gradient calibrated for the vehicle. The motor controller controls the drive torque output gradient of the drive motor through the traditional system to output according to the slowest gradient calibrated for the vehicle.

[0107] In the embodiment of the present application, when the vehicle is in the online car-hailing mode, it is defaulted that the vehicle is currently using the economy mode.

[0108] In some embodiments, in the above step S204, sending the driving torque attenuation gradient to the motor controller so that the motor controller performs gradient attenuation on the vehicle required torque according to the driving torque attenuation gradient includes:

[0109] Calculate the remaining mileage from the vehicle's current location to the target drop-off location;

[0110] If the remaining mileage is less than or equal to a preset mileage threshold, the driving torque attenuation gradient is adjusted to obtain an adjusted driving torque attenuation gradient;

[0111] The adjusted driving torque attenuation gradient is sent to the motor controller, so that the motor controller performs gradient attenuation on the vehicle required torque of the driving motor through the transmission system according to the adjusted driving torque attenuation gradient.

[0112] The preset mileage threshold can be flexibly set according to actual conditions. For example, it can be set to 3km, 5km, 10km, etc., without specific restrictions.

[0113] As an example, assuming that the driving torque attenuation gradient is 2.5 Nm / ms and the remaining mileage is 3 km, which is less than the preset mileage threshold (such as 5 km), the driving torque attenuation gradient can be adjusted in combination with the vehicle's real-time speed, road conditions outside the vehicle, etc. For example, the driving torque attenuation gradient is adjusted from 2.5 Nm / ms to 2 Nm / ms, that is, the adjusted driving torque attenuation gradient is obtained, and the adjusted driving torque attenuation gradient is sent to the motor controller, so that the motor controller performs gradient attenuation of the vehicle's required torque of the drive motor through the transmission system at 2 Nm / ms, so as to further reduce the dizziness caused by the rapid change of vehicle torque when passengers are riding, while ensuring the standardization and safety of driving behavior during driving, and improving the travel experience of passengers.

[0114] In some embodiments, throughout the entire passenger-carrying process, the vehicle controller can use the DMS driver monitoring system and in-vehicle cameras to identify the driver's and passenger's pupil dilation and blink rate, respectively, and then implement different control strategies. For example, during the passenger-carrying process, if it is identified that the passenger's pupil dilation is less than a preset threshold (e.g., 20mm) or the blink rate is greater than or equal to a preset threshold (e.g., 1 time / second), the vehicle controller can send a request to the BCM to close the windows, turn off the interior lights, and lower the audio volume, while simultaneously requesting the IVI to display a passenger rest mode notification to the driver. When the passenger rest mode is detected to be on, and the VCU estimates that the time to reach the target drop-off location based on the map provided by the dispatch system 102 is less than a preset time threshold (e.g., 3 minutes), the VCU can request a voice notification to the passenger that they are about to arrive at their destination and request the BCM to turn on the interior lights at the passenger's location.

[0115] In some embodiments, when the departure or destination of the target order confirmed by the VCU is a hospital, or when the facial features of the passengers in the car are recognized by the in-car camera to match the facial features of the elderly or children, a control request can be sent to the air-conditioning controller to enable the air-conditioning controller to control the air-conditioning temperature to rise to the preset temperature threshold and reduce the fan speed to the preset threshold, and at the same time turn on the in-car and out-car circulation function to ensure that the in-car environment is relatively suitable, which can better improve the riding comfort of the passengers.

[0116] In some embodiments, when the VCU determines that the smoke concentration in the vehicle exceeds the standard based on the smoke concentration in the vehicle identified by the on-board smoke sensor, it initiates a control start command to the BCM air purification device and sends an external circulation start status command to the air-conditioning system to quickly clean the vehicle environment. At the same time, it sends a prompt control request to the IVI, and the IVI reminds passengers not to smoke through the passenger multi-function display and audio system.

[0117] In some embodiments, when the VCU detects that the vehicle has arrived at the target drop-off location, it can monitor the vehicles and pedestrians on the side and rear of the vehicle through the ADAS system camera and radar system. When it is confirmed that there are vehicles or pedestrians passing by the side or rear of the vehicle, it requests to control the audio system to issue safety warnings to the passengers in the vehicle.

[0118] In summary, the technical solution provided by the embodiment of the present application is based on the common operating conditions of online ride-hailing. According to the actual status of the vehicle, the external environment and the characteristics of the passengers in the vehicle, multiple first candidate orders in the online ride-hailing order set issued by the dispatch system are screened and the target order is determined, which can effectively improve the efficiency of the trip. After monitoring that the vehicle has arrived at the target pick-up location and that the passenger has boarded the vehicle and taken a seat, the current operating condition of the vehicle is determined, and the vehicle is controlled to enter different control modes according to the specific operating condition of the vehicle, thereby achieving more intelligent vehicle torque control, which can better improve the convenience of online ride-hailing operation and improve the safety and comfort of online ride-hailing travel. By monitoring the status of the passengers and the driver in the car, different control strategies are implemented for the driver and the passengers in the car respectively, which can ensure the driving safety of the driver and the riding comfort of the passengers. Based on the monitoring conditions of the internal and external environments, special passenger care, in-car smoke monitoring and control, and passenger disembarkation safety warnings are implemented to ensure comfortable and safe travel.

[0119] All of the above optional technical solutions can be combined in any way to form optional embodiments of the present application, and will not be described in detail here.

[0120] The following are device embodiments of the present application, which can be used to implement the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0121] Figure 5Schematic diagram of a vehicle torque control device provided in an embodiment of the present application. Figure 5 As shown, the vehicle torque control device includes:

[0122] An acquisition module 501 is configured to, in an online ride-hailing mode, acquire a current vehicle location, a remaining battery charge value, an average energy consumption value, and an online ride-hailing order set of a vehicle, where the online ride-hailing order set includes a plurality of first candidate orders, each of which includes at least a pickup location and a drop-off location;

[0123] A screening module 502 is configured to screen a target order from a plurality of first candidate orders based on the current vehicle location, the remaining battery power value, and the average energy consumption value, wherein the target order includes a target pickup location and a target drop-off location;

[0124] The first control module 503 is configured to, if it is detected that the vehicle has arrived at the target pickup location, that the passenger has boarded the vehicle and is seated, and that the vehicle is in an energy recovery state, obtain a vehicle coasting recovery torque value of the vehicle's drive motor, control the vehicle to enter a first control mode, determine a recovery torque attenuation factor, and send the recovery torque attenuation factor to a motor controller, so that the motor controller gradually reduces the vehicle coasting recovery torque value of the drive motor through the transmission system according to the recovery torque attenuation factor;

[0125] The second control module 504 is configured to obtain the vehicle's required torque of the drive motor if the vehicle is in a driving condition, control the vehicle to enter a second control mode, determine the drive torque attenuation gradient, and send the drive torque attenuation gradient to the motor controller, so that the motor controller can gradiently attenuate the vehicle's required torque of the drive motor through the transmission system according to the drive torque attenuation gradient.

[0126] The technical solution provided by the embodiment of the present application, on the one hand, can improve the travel efficiency of online car-hailing by screening out the target order from multiple first candidate orders in the online car-hailing order set according to the current vehicle position, the remaining power value of the battery pack, and the average energy consumption value in the online car-hailing mode, and avoid the problem that the journey cannot be completed normally or efficiently due to factors such as vehicle range. On the other hand, after monitoring that the vehicle has arrived at the target pick-up location and that the passenger has boarded the vehicle and taken a seat, the embodiment of the present application determines the current working condition of the vehicle, and controls the vehicle to enter different control modes according to the specific working condition of the vehicle, thereby achieving more intelligent vehicle torque control, which can better improve the convenience of online car-hailing operation, while improving the safety and comfort of online car-hailing travel.

[0127] In some embodiments, the screening module 502 includes:

[0128] a calculation unit configured to calculate the remaining mileage of the vehicle based on the remaining power value of the battery pack and the average energy consumption value;

[0129] A search unit is configured to search for a location of a refueling station closest to a drop-off location of each first candidate order;

[0130] The screening unit is configured to screen out a target order from multiple first candidate orders based on the remaining drivable mileage, the current vehicle position, the pick-up position, the drop-off position, the refueling station position of each first candidate order, and the preset redundant mileage.

[0131] In some embodiments, the screening unit comprises:

[0132] a first calculation component configured to calculate, for each first candidate order, a first driving mileage based on a current vehicle location and a pick-up location, a second driving mileage based on the pick-up location and the drop-off location, and a third driving mileage based on the drop-off location and the refueling station location;

[0133] a second calculation component configured to calculate a total mileage of each first candidate order based on the first mileage, the second mileage, the third mileage, and a preset redundant mileage;

[0134] a screening component configured to screen at least one second candidate order from the plurality of first candidate orders based on the total mileage and the remaining mileage;

[0135] The selection component is configured to select one or more from at least one second candidate order as a target order.

[0136] In some embodiments, the first control module 503 includes:

[0137] A monitoring unit configured to monitor a real-time vehicle speed and a real-time brake master cylinder pressure value of the vehicle;

[0138] The determining unit is configured to determine a regeneration torque attenuation factor based on the real-time vehicle speed and the real-time master cylinder pressure value.

[0139] In some embodiments, the first control module 503 further includes:

[0140] A collection unit is configured to collect facial feature information of passengers in the vehicle;

[0141] an adjusting unit configured to adjust the recovery torque attenuation factor to obtain an adjusted recovery torque attenuation factor if the passenger in the vehicle is determined to be a special care passenger based on the facial feature information;

[0142] The sending unit is configured to send the adjusted recovery torque attenuation factor to the motor controller, so that the motor controller gradually reduces the vehicle coasting recovery torque value of the drive motor through the transmission system according to the adjusted recovery torque attenuation factor.

[0143] In some embodiments, the second control module 504 includes:

[0144] an acquisition unit configured to acquire a required torque value of the vehicle, a torque output value of a previous cycle, and a standard driving torque attenuation gradient of the vehicle in a ride-hailing mode;

[0145] a setting unit configured to set a driving torque gradient attenuation factor according to a required torque value of the vehicle and a torque output value of a previous cycle;

[0146] The gradient determination unit is configured to determine the driving torque attenuation gradient of the vehicle in the online car-hailing mode based on the standard driving torque gradient and the driving torque gradient attenuation factor.

[0147] In some embodiments, the second control module 504 further includes:

[0148] a mileage calculation unit configured to calculate the remaining mileage of the vehicle from the current vehicle position to the target drop-off position;

[0149] a gradient adjustment unit configured to adjust the driving torque attenuation gradient to obtain an adjusted driving torque attenuation gradient if the remaining mileage is less than or equal to a preset mileage threshold;

[0150] The data sending unit is configured to send the adjusted driving torque attenuation gradient to the motor controller, so that the motor controller gradually attenuates the vehicle required torque of the driving motor through the transmission system according to the adjusted driving torque attenuation gradient.

[0151] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0152] Figure 6 This is a schematic diagram of the structure of a new energy vehicle provided by an embodiment of the present application. For ease of description, only the parts related to the embodiment of the present application are shown in the figure. Figure 6 As shown, the new energy vehicle includes a vehicle controller 601 , a motor controller 602 , a drive motor 603 and a transmission system 604 .

[0153] The vehicle controller 601 is used to implement the vehicle torque control method described above, so as to send the recovery torque attenuation factor or the driving torque attenuation gradient to the motor controller 602 .

[0154] The motor controller 602 is used to gradually reduce the vehicle coasting recovery torque value of the drive motor 603 through the transmission system 604 according to the recovery torque attenuation factor, or to gradually attenuate the vehicle demand torque of the drive motor 603 through the transmission system 604 according to the drive torque attenuation gradient.

[0155] Figure 7 Schematic diagram of the electronic device 7 provided in the embodiment of the present application. Figure 7 As shown, the electronic device 7 of this embodiment includes: a processor 701, a memory 702, and a computer program 703 stored in the memory 702 and executable by the processor 701. When the processor 701 executes the computer program 703, the steps of the above-mentioned method embodiments are implemented. Alternatively, when the processor 701 executes the computer program 703, the functions of the modules / units in the above-mentioned device embodiments are implemented.

[0156] The electronic device 7 may be a desktop computer, a notebook, a PDA, a cloud server or other electronic device. The electronic device 7 may include but is not limited to a processor 701 and a memory 702. Those skilled in the art will understand that Figure 7 This is merely an example of the electronic device 7 and does not limit the electronic device 7 . The electronic device 7 may include more or fewer components than shown in the figure, or different components.

[0157] The processor 701 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0158] The memory 702 can be an internal storage unit of the electronic device 7, such as a hard disk or memory of the electronic device 7. The memory 702 can also be an external storage device of the electronic device 7, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash memory card, etc. equipped on the electronic device 7. The memory 702 can also include both an internal storage unit of the electronic device 7 and an external storage device. The memory 702 is used to store computer programs and other programs and data required by the electronic device.

[0159] Those skilled in the art will clearly understand that for the sake of convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0160] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the process in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by the processor, it can implement the steps of the above-mentioned various method embodiments. The computer program may include computer program code, which may be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0161] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A vehicle torque control method, characterized in that: include: In the online ride-hailing mode, obtaining a current vehicle location, a remaining battery charge value, an average energy consumption value, and an online ride-hailing order set of the vehicle, wherein the online ride-hailing order set includes a plurality of first candidate orders, each of which includes at least a pick-up location and a drop-off location; Filtering a target order from the plurality of first candidate orders according to the current vehicle location, the remaining battery power value, and the average energy consumption value, the target order including a target pick-up location and a target drop-off location; If it is monitored that the vehicle has arrived at the target pickup location, and that the passenger has boarded the vehicle and taken his seat, and the vehicle is in an energy recovery operating state, then obtaining a vehicle coasting recovery torque value of the drive motor of the vehicle, controlling the vehicle to enter a first control mode, determining a recovery torque attenuation factor, and sending the recovery torque attenuation factor to a motor controller, so that the motor controller gradually reduces the vehicle coasting recovery torque value of the drive motor through a transmission system according to the recovery torque attenuation factor; If the vehicle is in a driving condition, obtaining a vehicle-wide demanded torque of a drive motor of the vehicle, controlling the vehicle to enter a second control mode, determining a drive torque attenuation gradient, and sending the drive torque attenuation gradient to a motor controller, so that the motor controller performs a gradient attenuation of the vehicle-wide demanded torque of the drive motor through a transmission system according to the drive torque attenuation gradient; Determine the regenerative torque attenuation factor, including: Monitoring the real-time speed and real-time brake master cylinder pressure value of the vehicle; A regenerative torque attenuation factor is determined based on the real-time vehicle speed and the real-time master cylinder pressure value.

2. The method according to claim 1, characterized in that Filtering a target order from the plurality of first candidate orders according to the current vehicle location, the remaining battery power value, and the average energy consumption value includes: Calculating the remaining mileage of the vehicle based on the remaining power value of the battery pack and the average energy consumption value; Searching for the location of the refueling station closest to the drop-off location of each of the first candidate orders; A target order is selected from the multiple first candidate orders based on the remaining drivable mileage, the current vehicle position, the pick-up position, the drop-off position, the refueling station position and the preset redundant mileage of each of the first candidate orders.

3. The method according to claim 2, characterized in that Filtering a target order from the plurality of first candidate orders based on the remaining drivable mileage, the current vehicle location, the pick-up location, the drop-off location, the refueling station location, and the preset redundant mileage of each of the first candidate orders includes: For each of the first candidate orders, calculating a first mileage based on the current vehicle location and the pick-up location, calculating a second mileage based on the pick-up location and the drop-off location, and calculating a third mileage based on the drop-off location and the refueling station location; Calculating the total mileage of each of the first candidate orders based on the first mileage, the second mileage, the third mileage, and a preset redundant mileage; Filtering at least one second candidate order from the plurality of first candidate orders according to the total mileage and the remaining mileage; One or more of the at least one second candidate order are selected as target orders.

4. The method according to claim 1, wherein Gradually reducing the vehicle coasting recovery torque value according to the recovery torque attenuation factor includes: Collecting facial feature information of passengers in the vehicle; If it is determined according to the facial feature information that the passenger in the vehicle is a special care passenger, adjusting the recovery torque attenuation factor to obtain an adjusted recovery torque attenuation factor; The adjusted recovery torque attenuation factor is sent to a motor controller, so that the motor controller gradually reduces the vehicle coasting recovery torque value of the drive motor through the transmission system according to the adjusted recovery torque attenuation factor.

5. The method according to claim 1, characterized in that Determine the drive torque decay gradient, including: Obtaining the vehicle's required torque value, the torque output value of the previous cycle, and the standard driving torque attenuation gradient of the vehicle in the online ride-hailing mode; Setting a driving torque gradient attenuation factor according to the vehicle required torque value and the torque output value of the previous cycle; The driving torque attenuation gradient of the vehicle in the online car-hailing mode is determined based on the standard driving torque gradient and the driving torque gradient attenuation factor.

6. The method according to claim 1 or 5, characterized in that Sending the driving torque attenuation gradient to a motor controller so that the motor controller performs gradient attenuation on the vehicle required torque according to the driving torque attenuation gradient includes: Calculating the remaining mileage of the vehicle from the current vehicle position to the target drop-off location; If the remaining mileage is less than or equal to a preset mileage threshold, adjusting the driving torque attenuation gradient to obtain an adjusted driving torque attenuation gradient; The adjusted driving torque attenuation gradient is sent to a motor controller, so that the motor controller performs gradient attenuation on the vehicle required torque of the driving motor through a transmission system according to the adjusted driving torque attenuation gradient.

7. A vehicle torque control device, characterized in that: include: an acquisition module configured to, in an online ride-hailing mode, acquire a current vehicle location, a remaining battery charge value, an average energy consumption value, and an online ride-hailing order set of the vehicle, the online ride-hailing order set including a plurality of first candidate orders, each of the first candidate orders including at least a pick-up location and a drop-off location; a screening module configured to screen a target order from the plurality of first candidate orders based on the current vehicle location, the remaining battery power value, and the average energy consumption value, the target order including a target pick-up location and a target drop-off location; a first control module configured to, if it is detected that the vehicle has arrived at the target pickup location and that the passenger has boarded the vehicle and taken a seat, and the vehicle is in an energy recovery state, obtain a vehicle coasting recovery torque value of the drive motor of the vehicle, control the vehicle to enter a first control mode, determine a recovery torque attenuation factor, and send the recovery torque attenuation factor to a motor controller, so that the motor controller gradually reduces the vehicle coasting recovery torque value of the drive motor through a transmission system according to the recovery torque attenuation factor; a second control module configured to, if the vehicle is in a driving condition, obtain a vehicle-wide demanded torque of a drive motor of the vehicle, control the vehicle to enter a second control mode, determine a drive torque attenuation gradient, and send the drive torque attenuation gradient to a motor controller, so that the motor controller gradually attenuates the vehicle-wide demanded torque of the drive motor through a transmission system according to the drive torque attenuation gradient; Determine the regenerative torque attenuation factor, including: Monitoring the real-time speed and real-time brake master cylinder pressure value of the vehicle; A regenerative torque attenuation factor is determined based on the real-time vehicle speed and the real-time master cylinder pressure value.

8. A new energy vehicle, characterized in that: Including vehicle controller, motor controller, drive motor and transmission system; The vehicle controller is used to implement the vehicle torque control method according to any one of claims 1 to 6, so as to send the recovery torque attenuation factor or the driving torque attenuation gradient to the motor controller; The motor controller is used to gradually reduce the vehicle coasting recovery torque value of the drive motor through the transmission system according to the recovery torque attenuation factor, or to gradually attenuate the vehicle demand torque of the drive motor through the transmission system according to the drive torque attenuation gradient.

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

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