Torque control method, device and equipment for driving motor and readable storage medium

Abstract

The application discloses a torque control method, device and equipment of driving motor and a readable storage medium, and belongs to the technical field of electric vehicles. The method comprises the following steps: in response to receiving a target signal, obtaining a first driving torque of the driving motor when the target signal is received; controlling the driving torque of the driving motor to be adjusted from the first driving torque to a second driving torque at a first adjustment speed, the first adjustment speed being determined based on the first driving torque, the second driving torque and a first time length, the first time length being a time length required for the driving torque of the driving motor to be adjusted from the first driving torque to the second driving torque; controlling the driving motor to operate at the second driving torque for a second time length, the second time length being determined based on the second driving torque and vehicle information; controlling the driving torque of the driving motor to be adjusted from the second driving torque to a target torque; and controlling the driving motor to operate at the target torque. The method makes the adjustment process of the driving torque more gentle, and can improve the smoothness of vehicle driving.

Description

Technical Field

[0001] This application relates to the field of electric vehicle technology, and in particular to a torque control method, apparatus, device, and readable storage medium for a drive motor. Background Technology

[0002] Electric vehicles and hybrid vehicles typically use a drive motor as the driving source, and the drive motor is torque-controlled during driving to provide driving torque.

[0003] To improve driving range, electric vehicles and hybrid vehicles typically incorporate energy recovery systems. These systems recover driving torque when the driver does not require it, sometimes resulting in a torque zero-crossing situation. Conversely, when the driver needs driving torque, the energy recovery system deactivates, also resulting in a torque zero-crossing situation.

[0004] However, zero torque causes drastic fluctuations in engine speed, resulting in significant wear and tear on vehicle parts and affecting overall vehicle smoothness, ultimately leading to a poor driving experience. Therefore, a torque control method for the drive motor is needed to address the problems caused by zero torque. Summary of the Invention

[0005] This application provides a torque control method, apparatus, device, and readable storage medium for a drive motor, which can be used to solve problems in related technologies. The technical solution is as follows:

[0006] On one hand, embodiments of this application provide a torque control method for a drive motor, the method comprising:

[0007] In response to receiving a target signal, the first driving torque of the drive motor when the target signal is received is obtained;

[0008] The drive torque of the drive motor is adjusted from the first drive torque to the second drive torque according to the first adjustment speed. The first adjustment speed is determined based on the first drive torque, the second drive torque and the first duration. The first duration is the time required for the drive torque of the drive motor to be adjusted from the first drive torque to the second drive torque.

[0009] The drive motor is controlled to run at the second drive torque for a second duration, the second duration being determined based on the second drive torque and vehicle information;

[0010] The drive torque of the drive motor is controlled to be adjusted from the second drive torque to a target torque, wherein the target torque is determined based on information corresponding to the target signal;

[0011] Control the drive motor to operate according to the target torque.

[0012] In one possible implementation, adjusting the drive torque of the drive motor from the second drive torque to the target torque includes:

[0013] The drive torque of the drive motor is adjusted from the second drive torque to the tooth-aligning torque according to the second adjustment speed. The tooth-aligning torque is determined based on the vehicle information. The second adjustment speed is determined based on the second drive torque, the tooth-aligning torque, and a third duration, where the third duration is the time required for the drive torque of the drive motor to be adjusted from the second drive torque to the tooth-aligning torque.

[0014] The drive motor is controlled to operate according to the gear torque for a fourth duration, the fourth duration being determined based on the gear torque and the vehicle information;

[0015] The drive torque of the drive motor is adjusted from the toothed torque to the target torque according to the third adjustment speed. The third adjustment speed is determined based on the toothed torque, the target torque, and a fifth duration, which is the time required for the drive torque of the drive motor to be adjusted from the toothed torque to the target torque.

[0016] In one possible implementation, adjusting the drive torque of the drive motor from the second drive torque to the target torque includes:

[0017] The drive torque of the drive motor is adjusted from the second drive torque to the target torque according to the fourth adjustment speed control. The fourth adjustment speed is determined based on the second drive torque, the target torque and a sixth duration, which is the time required for the drive torque of the drive motor to be adjusted from the second drive torque to the target torque.

[0018] In one possible implementation, before adjusting the drive torque of the drive motor from the first drive torque to the second drive torque according to the first adjustment speed, the method further includes:

[0019] Determine a first difference between the second drive torque and the first drive torque;

[0020] The duration corresponding to the first difference is determined as the first duration;

[0021] The quotient between the first difference and the first duration is determined as the first adjustment speed.

[0022] In one possible implementation, the target signal is a braking signal, the information corresponding to the target signal is the deceleration corresponding to the braking signal, and the target torque is the driving torque corresponding to the deceleration.

[0023] Since the target signal is a throttle signal, the information corresponding to the target signal is the throttle opening corresponding to the throttle signal, and the target torque is the driving torque corresponding to the throttle opening.

[0024] In one possible implementation, adjusting the drive torque of the drive motor from the first drive torque to the second drive torque according to the first adjustment speed includes:

[0025] A first adjustment command is sent to the drive motor. The first adjustment command includes a first adjustment speed and a second drive torque. The first adjustment command is used to instruct the drive motor to adjust its drive torque to the second drive torque according to the first adjustment speed.

[0026] In one possible implementation, the vehicle information includes at least one of vehicle weight, driving conditions, driving mode, or the model of the drive motor.

[0027] On the other hand, embodiments of this application provide a torque control device for a drive motor, the device comprising:

[0028] The acquisition module is configured to acquire the first driving torque of the drive motor when the target signal is received in response to receiving the target signal;

[0029] The control module is used to control the drive torque of the drive motor to be adjusted from the first drive torque to the second drive torque according to a first adjustment speed. The first adjustment speed is determined based on the first drive torque, the second drive torque and a first duration. The first duration is the duration required for the drive torque of the drive motor to be adjusted from the first drive torque to the second drive torque.

[0030] The control module is also used to control the drive motor to run for a second duration according to the second drive torque, the second duration being determined based on the second drive torque and vehicle information;

[0031] The control module is further configured to control the drive torque of the drive motor to be adjusted from the second drive torque to the target torque, wherein the target torque is determined based on the information corresponding to the target signal;

[0032] The control module is also used to control the drive motor to operate according to the target torque.

[0033] In one possible implementation, the control module is configured to control the drive torque of the drive motor to be adjusted from the second drive torque to the tooth-aligning torque according to a second adjustment speed, wherein the tooth-aligning torque is determined based on the vehicle information, and the second adjustment speed is determined based on the second drive torque, the tooth-aligning torque, and a third duration, wherein the third duration is the duration required for the drive torque of the drive motor to be adjusted from the second drive torque to the tooth-aligning torque.

[0034] The drive motor is controlled to operate according to the gear torque for a fourth duration, the fourth duration being determined based on the gear torque and the vehicle information;

[0035] The drive torque of the drive motor is adjusted from the toothed torque to the target torque according to the third adjustment speed. The third adjustment speed is determined based on the toothed torque, the target torque, and a fifth duration, which is the time required for the drive torque of the drive motor to be adjusted from the toothed torque to the target torque.

[0036] In one possible implementation, the control module is configured to control the drive torque of the drive motor to adjust from the second drive torque to the target torque according to a fourth adjustment speed, the fourth adjustment speed being determined based on the second drive torque, the target torque, and a sixth duration, the sixth duration being the duration required for the drive torque of the drive motor to adjust from the second drive torque to the target torque.

[0037] In one possible implementation, the device further includes:

[0038] The determining module is configured to determine a first difference between the second driving torque and the first driving torque; determine the duration corresponding to the first difference as the first duration; and determine the quotient between the first difference and the first duration as the first adjustment speed.

[0039] In one possible implementation, the target signal is a braking signal, the information corresponding to the target signal is the deceleration corresponding to the braking signal, and the target torque is the driving torque corresponding to the deceleration.

[0040] Since the target signal is a throttle signal, the information corresponding to the target signal is the throttle opening corresponding to the throttle signal, and the target torque is the driving torque corresponding to the throttle opening.

[0041] In one possible implementation, the control module is configured to send a first adjustment command to the drive motor, the first adjustment command including a first adjustment speed and a second drive torque, the first adjustment command being used to instruct the drive motor to adjust the drive torque of the drive motor to the second drive torque according to the first adjustment speed.

[0042] In one possible implementation, the vehicle information includes at least one of vehicle weight, driving conditions, driving mode, or the model of the drive motor.

[0043] On the other hand, embodiments of this application provide a computer device, the computer device including a processor and a memory, the memory storing at least one piece of program code, the at least one piece of program code being loaded and executed by the processor, so that the computer device implements any of the above-described torque control methods for drive motors.

[0044] On the other hand, a computer-readable storage medium is also provided, wherein at least one piece of program code is stored in the computer-readable storage medium, the at least one piece of program code being loaded and executed by a processor to enable a computer to implement the torque control method for any of the drive motors described above.

[0045] On the other hand, a computer program or computer program product is also provided, wherein the computer program or computer program product stores at least one computer instruction, which is loaded and executed by a processor to enable the computer to implement any of the above-described torque control methods for driving motors.

[0046] The technical solution provided in this application has at least the following beneficial effects:

[0047] The technical solution provided in this application, upon receiving a target signal and adjusting the drive torque, involves controlling the drive motor to adjust the drive torque from a first drive torque to a second drive torque, then controlling the drive motor to run at the second drive torque for a period of time before adjusting the drive torque to the target torque. This method of adjusting drive torque makes the adjustment process smoother, thereby reducing vehicle speed fluctuations after receiving the target signal, resulting in better overall vehicle smoothness and improved driving experience. Furthermore, reducing vehicle speed fluctuations also reduces wear and tear on vehicle parts, thus extending vehicle lifespan. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0049] Figure 1 This is a schematic diagram of the implementation environment of a torque control method for a drive motor provided in an embodiment of this application;

[0050] Figure 2 This is a flowchart of a torque control method for a drive motor provided in an embodiment of this application;

[0051] Figure 3 This is a schematic diagram of a torque control process for a drive motor provided in an embodiment of this application;

[0052] Figure 4 This is a schematic diagram of another torque control process for a drive motor provided in an embodiment of this application;

[0053] Figure 5 This is a schematic diagram of the structure of a torque control device for a drive motor provided in an embodiment of this application;

[0054] Figure 6 This is a schematic diagram of the structure of a terminal device provided in an embodiment of this application;

[0055] Figure 7 This is a schematic diagram of the structure of a server provided in an embodiment of this application. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0057] It should be noted that the terms "first," "second," etc., used in this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0058] Figure 1 This is a schematic diagram illustrating the implementation environment of a torque control method for a drive motor provided in this application embodiment, as shown below. Figure 1As shown, the implementation environment includes a signal detection module 101, a drive motor control module 102, and a drive motor 103. The drive motor control module 102 communicates with the signal detection module 101 and the drive motor 103 via a wired or wireless network. The torque control method for the drive motor provided in this embodiment is implemented through the interaction between the signal detection module 101, the drive motor control module 102, and the drive motor 103.

[0059] Optionally, the signal detection module 101 includes a drive motor torque detection module 104, a vehicle braking module 105, and a vehicle throttle module 106. The signal detection module 101 is responsible for detecting, acquiring, and feeding back the drive motor torque signal, the vehicle braking signal, and the vehicle throttle signal.

[0060] The drive motor control module 102 is responsible for receiving the target signal sent by the signal detection module 101, determining the drive torque control process based on the target signal, and sending the drive torque control process to the drive motor 103 so that the drive motor 103 controls the drive torque according to the drive torque control process. The target signal can be a torque signal, a brake signal, or a throttle signal.

[0061] The drive motor 103 is responsible for receiving torque control commands sent by the drive motor control module 102 and controlling the drive torque.

[0062] This application provides a torque control method for a drive motor, which can be applied to the above-mentioned... Figure 1 The implementation environment shown is as follows: Figure 2 The flowchart shown in this embodiment of the present application illustrates a torque control method for a drive motor. This method can be implemented by... Figure 1 The drive motor control module 102 in the middle executes the command. For example... Figure 2 As shown, the method includes the following steps 201 to 205.

[0063] In step 201, in response to receiving the target signal, the first drive torque of the drive motor when the target signal is received is obtained.

[0064] The target signal can be either a brake signal or an accelerator signal.

[0065] In one possible implementation, the signal detection module is used to detect the drive motor torque signal, the vehicle brake signal, and the vehicle throttle signal in real time. When the signal detection module detects a brake signal, it sends a brake signal to the drive motor control module so that the drive motor control module receives the brake signal. Similarly, when the signal detection module detects a throttle signal, it sends a throttle signal to the drive motor control module so that the drive motor control module receives the throttle signal.

[0066] When the drive motor control module receives a target signal, it acquires the first drive torque of the drive motor at the time the target signal is received. This application embodiment does not limit the method by which the drive motor control module acquires the first drive torque of the drive motor at the time the target signal is received. Optionally, in response to receiving the target signal, the drive motor control module generates an acquisition request, which includes a first time, the time when the drive motor control module receives the target signal. The drive motor control module sends the acquisition request to the drive motor. The drive motor receives the acquisition request, parses it, and obtains the first time. The drive motor stores the drive torque at various times, and determines the first drive torque at the first time based on the first time and the drive torque at each time. The drive motor sends the first drive torque to the drive motor control module so that the drive motor control module acquires the first drive torque of the drive motor at the time the target signal is received. For example, the first drive torque of the drive motor at the time the target signal is received is T. d1 .

[0067] In step 202, the driving torque of the drive motor is adjusted from the first driving torque to the second driving torque according to the first adjustment speed control.

[0068] Wherein, the second driving torque is 0. In one possible implementation, before adjusting the driving torque of the drive motor from the first driving torque to the second driving torque according to the first adjustment speed, the first adjustment speed needs to be determined first. Since the first adjustment speed is determined based on the first driving torque, the second driving torque, and the first duration, the first duration needs to be determined first. The first duration is the time required for the driving torque of the drive motor to adjust from the first driving torque to the second driving torque.

[0069] The process of determining the first duration includes: determining the first difference between the second driving torque and the first driving torque; and determining the duration corresponding to the first difference as the first duration.

[0070] After determining the first duration, the process of determining the first adjustment speed based on the first drive torque, the second drive torque, and the first duration includes: determining the first difference between the second drive torque and the first drive torque, and determining the quotient between the first difference and the first duration as the first adjustment speed.

[0071] For example, the first driving torque is T d1 If the second driving torque is 0, then the first difference between the second driving torque and the first driving torque is -T. d1 If the duration corresponding to the first difference is t1, then the first adjustment speed is...

[0072] In one possible implementation, after determining the first adjustment speed, the process of adjusting the drive torque of the drive motor from the first drive torque to the second drive torque according to the first adjustment speed includes: generating a first adjustment command, the first adjustment command including the first adjustment speed and the second drive torque; sending the first adjustment command to the drive motor, the first adjustment command instructing the drive motor to adjust its drive torque to the second drive torque according to the first adjustment speed. After receiving the first adjustment command, the drive motor parses the first adjustment command to obtain the first adjustment speed and the second drive torque, and then adjusts its drive torque to the second drive torque according to the first adjustment speed.

[0073] In step 203, the drive motor is controlled to run for a second duration according to the second drive torque, the second duration being determined based on the second drive torque and vehicle information.

[0074] Optionally, after adjusting the drive torque of the drive motor from the first drive torque to the second drive torque according to the first adjustment speed control, it is also necessary to determine the duration for which the drive motor operates at the second drive torque, i.e., the second duration. The second duration is the duration determined based on the second drive torque and vehicle information. The vehicle information includes at least one of the following: vehicle weight, driving conditions, driving mode, or drive motor model.

[0075] Based on vehicle information, including vehicle weight, the drive motor control module acquires the vehicle weight through interaction with a weight sensor, which is used to determine the vehicle weight. Optionally, the drive motor control module generates a weight acquisition request and sends it to the weight sensor. The weight sensor receives the request, detects the weight, and thus obtains the vehicle weight. The weight sensor sends the vehicle weight to the drive motor control module so that the drive motor control module can acquire the vehicle weight.

[0076] Based on vehicle information, including driving conditions, the drive motor control module determines the driving conditions through interaction with the driving condition module, which is used to determine the driving conditions. Optionally, the drive motor control module generates a driving condition acquisition request and sends it to the driving condition module. The driving condition module receives the request and determines the driving conditions. The driving condition module then sends the driving conditions to the drive motor control module so that the drive motor control module can acquire the driving conditions. Optionally, driving conditions include, but are not limited to, starting, accelerating, constant speed, decelerating, turning, going uphill / downhill, and parking.

[0077] Based on vehicle information, including driving modes, the drive motor control module determines the driving mode through interaction with the central control module, which stores the driving modes. Optionally, the drive motor control module generates a mode acquisition request and sends it to the central control module. The central control module receives the request and determines the driving mode. The central control module then sends the driving mode to the drive motor control module, enabling the drive motor control module to acquire the driving mode. For example, driving modes include, but are not limited to, Sport mode, Eco mode, Snow mode, Off-road mode, and Standard mode.

[0078] Based on vehicle information, including the model number of the drive motor, the drive motor control module determines the drive motor model through interaction with the central control module, which stores the drive motor model number. Optionally, the drive motor control module generates a model number acquisition request and sends it to the central control module. The central control module receives the request and determines the drive motor model. The central control module then sends the drive motor model number to the drive motor control module, enabling the drive motor control module to obtain the drive motor model number. For example, the drive motor model number may include a switched reluctance motor, a square wave controlled permanent magnet synchronous motor, a sinusoidal controlled permanent magnet synchronous motor, a wound-rotor asynchronous motor, a squirrel-cage asynchronous motor, or a DC motor.

[0079] In one possible implementation, the drive motor control module stores durations corresponding to different vehicle information and different drive torques, and uses the duration corresponding to the vehicle information and the second drive torque as the second duration.

[0080] The process of controlling the drive motor to operate at the second drive torque for the second duration includes: generating a second control command, the second control command including the second duration; sending the second control command to the drive motor, the second control command instructing the drive motor to operate at the second drive torque for the second duration. After receiving the second control command, the drive motor parses the second control command to obtain the second duration, and then controls the drive motor to operate at the second drive torque for the second duration.

[0081] In step 204, the driving torque of the control drive motor is adjusted from the second driving torque to the target torque, which is determined based on the information corresponding to the target signal.

[0082] When the target signal is a braking signal, the information corresponding to the target signal is the deceleration corresponding to the braking signal, and the target torque is the driving torque corresponding to the deceleration. When the target signal is a throttle signal, the information corresponding to the target signal is the throttle opening corresponding to the throttle signal, and the target torque is the driving torque corresponding to the throttle opening.

[0083] In one possible implementation, there are two ways to control the drive motor's drive torque to be adjusted from the second drive torque to the target torque.

[0084] Method 1: Adjust the drive torque of the drive motor from the second drive torque to the tooth-aligning torque according to the second adjustment speed; control the drive motor to run at the tooth-aligning torque for a fourth duration; adjust the drive torque of the drive motor from the tooth-aligning torque to the target torque according to the third adjustment speed.

[0085] The first adjustment is determined based on vehicle information. The second adjustment speed is determined based on the second drive torque, the second tooth-aligning torque, and the third duration, which is the time required for the drive motor's drive torque to adjust from the second drive torque to the second tooth-aligning torque. The fourth duration is determined based on the tooth-aligning torque and vehicle information. The third adjustment speed is determined based on the tooth-aligning torque, the target torque, and the fifth duration, which is the time required for the drive motor's drive torque to adjust from the tooth-aligning torque to the target torque.

[0086] Optionally, the process of determining the tooth-aligning torque includes: using the tooth-aligning torque corresponding to the vehicle information as the tooth-aligning torque. The process of determining the third duration includes: determining a second difference between the tooth-aligning torque and the second drive torque; and determining the duration corresponding to the second difference as the third duration.

[0087] The process of determining the second adjustment speed includes: determining the second difference between the tooth torque and the second drive torque, and taking the quotient between the second difference and the third duration as the second adjustment speed.

[0088] The process of determining the fourth duration includes: determining the duration corresponding to the gear torque and vehicle information as the fourth duration.

[0089] The process of determining the fifth duration includes: determining the third difference between the target torque and the gear torque; and determining the duration corresponding to the third difference as the fifth duration.

[0090] The process of determining the third adjustment speed includes: determining the third difference between the target torque and the gear torque; and determining the quotient between the third difference and the fifth duration as the third adjustment speed.

[0091] In one possible implementation, the process of adjusting the drive torque of the drive motor from a second drive torque to a target torque includes: generating a third adjustment command, the third adjustment command including a second adjustment speed, a toothed torque, a fourth duration, a third adjustment speed, and a target torque; sending the third adjustment command to the drive motor, the third adjustment command being used to instruct the drive motor to adjust the torque of the drive motor to the toothed torque according to the second adjustment speed; running at the toothed torque for a fourth duration; and then adjusting the torque of the drive motor to the target torque according to the third adjustment speed.

[0092] The drive motor receives the second adjustment command, parses the second adjustment command, and obtains the second adjustment speed, the tooth-aligning torque, the fourth duration, the third adjustment speed, and the target torque. The drive motor first adjusts the drive torque of the drive motor from the second drive torque to the tooth-aligning torque according to the second adjustment speed, runs according to the tooth-aligning torque for the fourth duration, and then adjusts the drive torque of the drive motor from the tooth-aligning torque to the target torque according to the third adjustment speed.

[0093] Method 2: Adjust the drive torque of the drive motor from the second drive torque to the target torque according to the fourth adjustment speed control.

[0094] The fourth adjustment speed is determined based on the second driving torque, the target torque, and the sixth duration, which is the time required for the drive motor's driving torque to adjust from the second driving torque to the target torque.

[0095] In one possible implementation, the process of determining the sixth duration includes: determining a fourth difference between the target torque and the second drive torque; and determining the duration corresponding to the fourth difference as the sixth duration.

[0096] The process of determining the fourth adjustment speed includes: determining the quotient between the fourth difference and the sixth duration as the fourth adjustment speed.

[0097] In one possible implementation, the process of adjusting the drive torque of the drive motor from the second drive torque to the target torque according to the fourth adjustment speed includes: generating a third adjustment command, which includes the fourth adjustment speed and the target torque, and instructing the drive motor to adjust its drive torque to the target torque according to the fourth adjustment speed; and sending the third adjustment command to the drive motor. After receiving the third adjustment command, the drive motor parses it to obtain the fourth adjustment speed and the target torque, and adjusts its drive torque from the second drive torque to the target torque according to the fourth adjustment speed.

[0098] It should be noted that the drive torque can be adjusted from the second drive torque to the target torque according to any of the above implementation methods, and this application embodiment does not limit this. When the drive torque is adjusted from the second drive torque to the target torque according to the first implementation method, since the drive torque is first adjusted from the second drive torque to the gear torque, and the gear torque is held for four hours before the drive torque is adjusted from the gear torque to the target torque, the adjustment process of the drive torque is made smoother, thereby further reducing the vehicle speed fluctuation, further improving the smoothness of the vehicle ride, and improving the driver's driving experience. When the drive torque is adjusted from the second drive torque to the target torque according to the second implementation method, since the second drive torque is directly adjusted to the target torque, the smoothness of the drive torque adjustment process is worse than that of the first implementation method, and the speed fluctuation is greater than that of the first implementation method, resulting in a worse smoothness of the vehicle ride compared to the first implementation method.

[0099] In step 205, the drive motor is controlled to operate according to the target torque.

[0100] In one possible implementation, after adjusting the drive torque of the control drive motor to the target torque, the control drive motor is operated according to the target torque. Optionally, a fourth adjustment command is generated, which includes the target torque and instructs the drive motor to operate according to the target torque. The fourth adjustment command is sent to the drive motor. After receiving the fourth adjustment command, the drive motor parses it to obtain the target torque, and then operates according to the target torque.

[0101] In one possible implementation, after controlling the drive motor to operate at the target torque, if a reference signal is received, the drive motor is controlled again according to steps 201 to 205 described above. The reference signal is either a brake signal or a throttle signal, and it differs from the target signal. For example, the target signal is a brake signal, and the reference signal is a throttle signal. Alternatively, the target signal is a throttle signal, and the reference signal is a brake signal.

[0102] In one embodiment of this application, in step 201, when the drive motor control module receives the target signal, the first drive torque of the drive motor when the target signal is received is obtained, and then a first adjustment speed is determined based on the first drive torque, the second drive torque, and the first duration; a second duration is determined based on the second drive torque and vehicle information; a second adjustment speed is determined based on the second drive torque, the gear torque, and the third duration; a fourth duration is determined based on the gear torque and vehicle information; a third adjustment speed is determined based on the gear torque, the target torque, and the fifth duration; and a fourth adjustment speed is determined based on the first adjustment speed, the second drive torque, the second duration, the second adjustment speed, the gear torque, and the first duration. The system generates a target control command based on four durations, a third adjustment speed, and a target torque. The target control command includes a first adjustment speed, a second drive torque, a second duration, a second adjustment speed, a gear engagement torque, a fourth duration, a third adjustment speed, and the target torque. The target control command instructs the drive motor to adjust the drive torque from the first drive torque to the second drive torque at the first adjustment speed, operate at the second drive torque for a second duration, then adjust the drive torque from the second drive torque to the gear engagement torque at the second adjustment speed, operate at the gear engagement torque for a fourth duration, then adjust the drive torque from the gear engagement torque to the target torque at the third adjustment speed, and finally operate at the target torque. The target control command is sent to the drive motor so that after receiving the target control command, the drive motor controls the drive torque according to the target control command. The above determination process is described in steps 201 to 205, and will not be repeated here.

[0103] In another embodiment of this application, in step 201, when the drive motor control module receives the target signal, the first drive torque of the drive motor at the time of receiving the target signal is obtained, and then a first adjustment speed is determined based on the first drive torque, the second drive torque, and the first duration; a second duration is determined based on the second drive torque and vehicle information; a fourth adjustment speed is determined based on the second drive torque, the target torque, and the sixth duration; and a reference control command is generated based on the first adjustment speed, the second drive torque, the second duration, the fourth adjustment speed, and the target torque. The reference control command includes the first adjustment speed, the second drive torque, the second duration, the fourth adjustment speed, and the target torque. The target control command instructs the drive motor to adjust the drive torque from the first drive torque to the second drive torque according to the first adjustment speed, and to run according to the second drive torque for the second duration, and then adjust the drive torque from the second drive torque to the target torque according to the fourth adjustment speed, and then run according to the target torque. The reference control command is sent to the drive motor so that after receiving the reference control command, the drive motor controls the drive torque according to the reference control command. The determination process described above is described in steps 201 to 205. For details, please refer to the content of steps 201 to 205. This application embodiment will not repeat the description here.

[0104] It should be noted that if the target signal is a brake signal, the process of adjusting the drive torque is a process of reducing the drive torque; if the target signal is a throttle signal, the process of adjusting the drive torque is a process of increasing the drive torque.

[0105] The above method, upon receiving the target signal and adjusting the drive torque, involves controlling the drive motor to adjust the drive torque from a first drive torque to a second drive torque, then controlling the drive motor to run at the second drive torque for a period of time before finally adjusting the drive torque to the target torque. This method of adjusting drive torque makes the adjustment process smoother, thereby reducing vehicle speed fluctuations after receiving the target signal. This results in smoother overall vehicle operation and improves the driver's driving experience. Furthermore, reducing vehicle speed fluctuations also reduces wear and tear on vehicle parts, thus extending the vehicle's lifespan.

[0106] Figure 3 This is a schematic diagram illustrating the torque control process of a drive motor according to an embodiment of this application. Figure 3 The torque control process diagram shown includes the torque control process when a brake signal is received and the torque control process when a throttle signal is received.

[0107] The torque control process upon receiving a braking signal is as follows: When a braking signal is received, the drive motor's drive torque is D1. The drive motor reduces the drive torque from D1 to 0 within time T1, and operates at drive torque 0 for time T2. Then, within time T3, the drive motor reduces the drive torque from 0 to D4, and operates at drive torque D4 for time T4. Finally, within time T5, the drive torque reduces the drive torque from D4 to D6, and then operates at drive torque D6.

[0108] The torque control process upon receiving the throttle signal is as follows: When the throttle signal is received, the drive motor's drive torque is D5. The drive motor increases the drive torque from D5 to 0 within time T6, and operates at drive torque 0 for time T7. Then, within time T8, the drive motor increases the drive torque from 0 to D3, and operates at drive torque D3 for time T9. Finally, within time T10, the drive motor increases the drive torque from D3 to D2, and then operates at drive torque D2.

[0109] Figure 4 This is a schematic diagram illustrating another torque control process for a drive motor provided in an embodiment of this application. Figure 4 The torque control process diagram shown includes the torque control process when a brake signal is received and the torque control process when a throttle signal is received.

[0110] The torque control process upon receiving a braking signal is as follows: When a braking signal is received, the drive torque of the drive motor is D7. The drive motor reduces the drive torque from D7 to 0 within time t1, and operates at drive torque 0 for time t2. Then, within time T3, the drive torque reduces the drive torque from 0 to D10, and then operates at drive torque D10.

[0111] The torque control process upon receiving the throttle signal is as follows: When the throttle signal is received, the drive torque of the drive motor is D9. The drive motor increases the drive torque from D9 to 0 within time t4, and operates at drive torque 0 for time T5. Then, the drive motor increases the drive torque from 0 to D8 within time T6, and then operates at drive torque D8.

[0112] Figure 5 The diagram shown is a structural schematic of a torque control device for a drive motor provided in an embodiment of this application. Figure 5 As shown, the device includes:

[0113] The acquisition module 501 is used to acquire the first driving torque of the drive motor when the target signal is received in response to receiving the target signal;

[0114] The control module 502 is used to control the drive torque of the drive motor to be adjusted from the first drive torque to the second drive torque according to the first adjustment speed. The first adjustment speed is determined based on the first drive torque, the second drive torque and the first duration. The first duration is the time required for the drive torque of the drive motor to be adjusted from the first drive torque to the second drive torque.

[0115] The control module 502 is also used to control the drive motor to run for a second duration according to the second drive torque, the second duration being determined based on the second drive torque and vehicle information;

[0116] The control module 502 is also used to control the drive torque of the drive motor to be adjusted from the second drive torque to the target torque, the target torque being determined based on the information corresponding to the target signal;

[0117] The control module 502 is also used to control the drive motor to run according to the target torque.

[0118] In one possible implementation, the control module 502 is used to control the drive torque of the drive motor to be adjusted from the second drive torque to the tooth-aligning torque according to the second adjustment speed. The tooth-aligning torque is determined based on vehicle information. The second adjustment speed is determined based on the second drive torque, the tooth-aligning torque and a third duration. The third duration is the duration required for the drive torque of the drive motor to be adjusted from the second drive torque to the tooth-aligning torque.

[0119] The drive motor is controlled to run for a fourth duration according to the tooth torque, and the fourth duration is determined based on the tooth torque and vehicle information.

[0120] The drive torque of the drive motor is adjusted from the toothed torque to the target torque according to the third adjustment speed control. The third adjustment speed is determined based on the toothed torque, the target torque, and the fifth duration, which is the time required for the drive motor's drive torque to adjust from the toothed torque to the target torque.

[0121] In one possible implementation, the control module 502 is used to control the drive torque of the drive motor to adjust from the second drive torque to the target torque according to a fourth adjustment speed. The fourth adjustment speed is determined based on the second drive torque, the target torque, and a sixth duration, which is the time required for the drive torque of the drive motor to adjust from the second drive torque to the target torque.

[0122] In one possible implementation, the device further includes:

[0123] The determining module is used to determine a first difference between the second driving torque and the first driving torque; determine the duration corresponding to the first difference as a first duration; and determine the quotient between the first difference and the first duration as a first adjustment speed.

[0124] In one possible implementation, the target signal is a braking signal, the information corresponding to the target signal is the deceleration corresponding to the braking signal, and the target torque is the driving torque corresponding to the deceleration.

[0125] The target signal is the throttle signal, the information corresponding to the target signal is the throttle opening, and the target torque is the driving torque corresponding to the throttle opening.

[0126] In one possible implementation, the control module 502 is used to send a first adjustment command to the drive motor. The first adjustment command includes a first adjustment speed and a second drive torque. The first adjustment command is used to instruct the drive motor to adjust the drive torque of the drive motor to the second drive torque according to the first adjustment speed.

[0127] In one possible implementation, the vehicle information includes at least one of the following: vehicle weight, driving conditions, driving mode, or drive motor model.

[0128] The aforementioned device, upon receiving a target signal and adjusting the drive torque, controls the drive motor to adjust the drive torque from a first drive torque to a second drive torque. After the drive motor operates at the second drive torque for a period of time, it then adjusts the drive torque from the second drive torque to the target torque. This method of adjusting drive torque makes the adjustment process smoother, reducing vehicle speed fluctuations after receiving the target signal. This results in smoother overall vehicle operation and improves the driver's driving experience. Furthermore, reducing vehicle speed fluctuations also reduces wear and tear on vehicle parts, thereby extending the vehicle's lifespan.

[0129] It should be understood that the above-described apparatus is only illustrated by the division of the functional modules described above when implementing its functions. In practical applications, the functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the apparatus and method embodiments provided in the above embodiments belong to the same concept, and their specific implementation process can be found in the method embodiments, which will not be repeated here.

[0130] In one possible implementation, the drive motor control module can run in a terminal device, which can be a device installed on the vehicle or a device capable of remotely controlling the vehicle. This application does not limit this aspect. Figure 6This illustration shows a structural block diagram of a terminal device 600 provided in an exemplary embodiment of this application. The terminal device 600 can be any electronic device product capable of human-computer interaction with a user through one or more methods such as a keyboard, touchpad, remote control, voice interaction, or handwriting device. Examples include PCs (Personal Computers), mobile phones, smartphones, PDAs (Personal Digital Assistants), wearable devices, PPCs (Pocket PCs), tablet computers, smart car systems, smart TVs, smart speakers, and smartwatches.

[0131] Typically, terminal device 600 includes a processor 601 and a memory 602.

[0132] Processor 601 may include one or more processing cores, such as a quad-core processor, an octa-core processor, etc. Processor 601 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). Processor 601 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 601 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, processor 601 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0133] The memory 602 may include one or more computer-readable storage media, which may be non-transitory. The memory 602 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 602 are used to store at least one instruction, which is executed by the processor 601 to implement the torque control method for a drive motor provided in the method embodiments of this application.

[0134] In some embodiments, the terminal device 600 may also optionally include a peripheral device interface 603 and at least one peripheral device. The processor 601, memory 602, and peripheral device interface 603 can be connected via a bus or signal line. Each peripheral device can be connected to the peripheral device interface 603 via a bus, signal line, or circuit board. Specifically, the peripheral device includes at least one of the following: a radio frequency circuit 604, a display screen 605, a camera assembly 606, an audio circuit 607, and a power supply 609.

[0135] Peripheral interface 603 can be used to connect at least one I / O (Input / Output) related peripheral device to processor 601 and memory 602. In some embodiments, processor 601, memory 602 and peripheral interface 603 are integrated on the same chip or circuit board; in some other embodiments, any one or two of processor 601, memory 602 and peripheral interface 603 can be implemented on separate chips or circuit boards, which is not limited in this embodiment.

[0136] The radio frequency (RF) circuit 604 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The RF circuit 604 communicates with communication networks and other communication devices via electromagnetic signals. The RF circuit 604 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals back into electrical signals. Optionally, the RF circuit 604 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, etc. The RF circuit 604 can communicate with other terminal devices through at least one wireless communication protocol. This wireless communication protocol includes, but is not limited to: the World Wide Web, metropolitan area networks, intranets, various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and / or WiFi (Wireless Fidelity) networks. In some embodiments, the RF circuit 604 may also include circuitry related to NFC (Near Field Communication), which is not limited in this application.

[0137] Display screen 605 is used to display a UI (User Interface). This UI may include graphics, text, icons, videos, and any combination thereof. When display screen 605 is a touch display screen, it also has the ability to collect touch signals on or above its surface. These touch signals can be input as control signals to processor 601 for processing. In this case, display screen 605 can also be used to provide virtual buttons and / or a virtual keyboard, also known as soft buttons and / or a soft keyboard. In some embodiments, there may be one display screen 605, disposed on the front panel of terminal device 600; in other embodiments, there may be at least two display screens, disposed on different surfaces of terminal device 600 or in a folded design; in still other embodiments, display screen 605 may be a flexible display screen, disposed on a curved or folded surface of terminal device 600. Furthermore, display screen 605 may be configured as a non-rectangular irregular shape, i.e., a non-rectangular screen. Display screen 605 may be made of materials such as LCD (Liquid Crystal Display) or OLED (Organic Light-Emitting Diode).

[0138] The camera assembly 606 is used to acquire images or videos. Optionally, the camera assembly 606 includes a front-facing camera and a rear-facing camera. Typically, the front-facing camera is located on the front panel of the terminal device 600, and the rear-facing camera is located on the back of the terminal device 600. In some embodiments, there are at least two rear-facing cameras, which are any one of a main camera, a depth-sensing camera, a wide-angle camera, and a telephoto camera, to achieve background blurring by fusion of the main camera and the depth-sensing camera, panoramic shooting by fusion of the main camera and the wide-angle camera, VR (Virtual Reality) shooting, or other fusion shooting functions. In some embodiments, the camera assembly 606 may also include a flash. The flash can be a single-color temperature flash or a dual-color temperature flash. A dual-color temperature flash is a combination of a warm-light flash and a cool-light flash, which can be used for light compensation at different color temperatures.

[0139] The audio circuit 607 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, converting the sound waves into electrical signals that are input to the processor 601 for processing, or input to the radio frequency circuit 604 to achieve voice communication. For stereo sound acquisition or noise reduction purposes, multiple microphones may be used, each located at a different part of the terminal device 600. The microphone may also be an array microphone or an omnidirectional microphone. The speaker is used to convert electrical signals from the processor 601 or the radio frequency circuit 604 into sound waves. The speaker may be a conventional diaphragm speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can convert electrical signals not only into audible sound waves but also into inaudible sound waves for purposes such as distance measurement. In some embodiments, the audio circuit 607 may also include a headphone jack.

[0140] Power supply 609 is used to supply power to the various components in terminal device 600. Power supply 609 can be AC ​​power, DC power, a disposable battery, or a rechargeable battery. When power supply 609 includes a rechargeable battery, the rechargeable battery can be a wired rechargeable battery or a wireless rechargeable battery. A wired rechargeable battery is a battery that is charged via a wired line, and a wireless rechargeable battery is a battery that is charged via a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0141] In some embodiments, the terminal device 600 further includes one or more sensors 610. The one or more sensors 610 include, but are not limited to, an accelerometer 611, a gyroscope 612, a pressure sensor 613, an optical sensor 615, and a proximity sensor 616.

[0142] Accelerometer 611 can detect the magnitude of acceleration along the three coordinate axes of a coordinate system established by terminal device 600. For example, accelerometer 611 can be used to detect the components of gravitational acceleration along the three coordinate axes. Processor 601 can control display screen 605 to display the user interface in either a landscape or portrait view based on the gravitational acceleration signal acquired by accelerometer 611. Accelerometer 611 can also be used for games or for acquiring user motion data.

[0143] The gyroscope sensor 612 can detect the orientation and rotation angle of the terminal device 600. The gyroscope sensor 612, in conjunction with the accelerometer sensor 611, can collect 3D motion data from the user on the terminal device 600. Based on the data collected by the gyroscope sensor 612, the processor 601 can perform the following functions: motion sensing (e.g., changing the UI based on the user's tilt), image stabilization during shooting, game control, and inertial navigation.

[0144] The pressure sensor 613 can be disposed on the side bezel of the terminal device 600 and / or on the lower layer of the display screen 605. When the pressure sensor 613 is disposed on the side bezel of the terminal device 600, it can detect the user's grip signal on the terminal device 600, and the processor 601 can perform left / right hand recognition or quick operation based on the grip signal collected by the pressure sensor 613. When the pressure sensor 613 is disposed on the lower layer of the display screen 605, the processor 601 can control the operable controls on the UI interface based on the user's pressure operation on the display screen 605. The operable controls include at least one of button controls, scroll bar controls, icon controls, and menu controls.

[0145] An optical sensor 615 is used to collect ambient light intensity. In one embodiment, the processor 601 can control the display brightness of the display screen 605 based on the ambient light intensity collected by the optical sensor 615. Specifically, when the ambient light intensity is high, the display brightness of the display screen 605 is increased; when the ambient light intensity is low, the display brightness of the display screen 605 is decreased. In another embodiment, the processor 601 can also dynamically adjust the shooting parameters of the camera assembly 606 based on the ambient light intensity collected by the optical sensor 615.

[0146] The proximity sensor 616, also known as a distance sensor, is typically mounted on the front panel of the terminal device 600. The proximity sensor 616 is used to detect the distance between the user and the front of the terminal device 600. In one embodiment, when the proximity sensor 616 detects that the distance between the user and the front of the terminal device 600 is gradually decreasing, the processor 601 controls the display screen 605 to switch from a screen-on state to a screen-off state; when the proximity sensor 616 detects that the distance between the user and the front of the terminal device 600 is gradually increasing, the processor 601 controls the display screen 605 to switch from a screen-off state to a screen-on state.

[0147] Those skilled in the art will understand that Figure 6 The structure shown does not constitute a limitation on the terminal device 600, and may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0148] In one possible implementation, the drive motor control module can run on a server, which can communicate with terminal devices capable of controlling the vehicle via a wired or wireless network. Figure 7This is a schematic diagram of the server structure provided in the embodiments of this application. The server 700 can vary considerably due to different configurations or performance. It may include one or more Central Processing Units (CPUs) 701 and one or more memories 702. Each memory 702 stores at least one line of program code, which is loaded and executed by the one or more processors 701 to implement the torque control method for the drive motor provided in the various method embodiments described above. Of course, the server 700 may also have wired or wireless network interfaces, a keyboard, and input / output interfaces for input and output. The server 700 may also include other components for implementing device functions, which will not be elaborated here.

[0149] In an exemplary embodiment, a computer-readable storage medium is also provided, which stores at least one piece of program code that is loaded and executed by a processor to enable a computer to implement any of the above-described torque control methods for a drive motor.

[0150] Optionally, the aforementioned computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), magnetic tape, floppy disk, and optical data storage device, etc.

[0151] In an exemplary embodiment, a computer program or computer program product is also provided, which stores at least one computer instruction, which is loaded and executed by a processor to enable the computer to implement any of the above-described torque control methods for a drive motor.

[0152] It should be noted that all information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.), and signals involved in this application have been authorized by the user or fully authorized by all parties, and the collection, use, and processing of related data must comply with the relevant laws, regulations, and standards of the relevant countries and regions. For example, the vehicle information involved in this application was obtained with full authorization.

[0153] It should be understood that "multiple" as used in this article refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0154] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0155] The above description is merely an exemplary embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.

Claims

1. A torque control method for a drive motor, characterized in that, The method includes: In response to receiving a target signal, the first driving torque of the drive motor when the target signal is received is obtained; The drive torque of the drive motor is adjusted from the first drive torque to the second drive torque according to the first adjustment speed. The first adjustment speed is determined based on the first drive torque, the second drive torque and the first duration. The first duration is the time required for the drive torque of the drive motor to be adjusted from the first drive torque to the second drive torque. The drive motor is controlled to run at the second drive torque for a second duration, the second duration being determined based on the second drive torque and vehicle information; The drive torque of the drive motor is controlled to be adjusted from the second drive torque to a target torque, wherein the target torque is determined based on information corresponding to the target signal; Control the drive motor to operate according to the target torque.

2. The method according to claim 1, characterized in that, Adjusting the drive torque of the drive motor from the second drive torque to the target torque includes: The drive torque of the drive motor is adjusted from the second drive torque to the tooth-aligning torque according to the second adjustment speed. The tooth-aligning torque is determined based on the vehicle information. The second adjustment speed is determined based on the second drive torque, the tooth-aligning torque, and a third duration, where the third duration is the time required for the drive torque of the drive motor to be adjusted from the second drive torque to the tooth-aligning torque. The drive motor is controlled to operate according to the gear torque for a fourth duration, the fourth duration being determined based on the gear torque and the vehicle information; The drive torque of the drive motor is adjusted from the toothed torque to the target torque according to the third adjustment speed. The third adjustment speed is determined based on the toothed torque, the target torque, and a fifth duration, which is the time required for the drive torque of the drive motor to be adjusted from the toothed torque to the target torque.

3. The method according to claim 1, characterized in that, Adjusting the drive torque of the drive motor from the second drive torque to the target torque includes: The drive torque of the drive motor is adjusted from the second drive torque to the target torque according to the fourth adjustment speed control. The fourth adjustment speed is determined based on the second drive torque, the target torque and a sixth duration, which is the time required for the drive torque of the drive motor to be adjusted from the second drive torque to the target torque.

4. The method according to any one of claims 1 to 3, characterized in that, Before adjusting the drive torque of the drive motor from the first drive torque to the second drive torque according to the first adjustment speed, the method further includes: Determine a first difference between the second drive torque and the first drive torque; The duration corresponding to the first difference is determined as the first duration; The quotient between the first difference and the first duration is determined as the first adjustment speed.

5. The method according to any one of claims 1 to 3, characterized in that, Since the target signal is a braking signal, the information corresponding to the target signal is the deceleration corresponding to the braking signal, and the target torque is the driving torque corresponding to the deceleration; Since the target signal is a throttle signal, the information corresponding to the target signal is the throttle opening corresponding to the throttle signal, and the target torque is the driving torque corresponding to the throttle opening.

6. The method according to any one of claims 1 to 3, characterized in that, The step of adjusting the drive torque of the drive motor from the first drive torque to the second drive torque according to the first adjustment speed includes: A first adjustment command is sent to the drive motor. The first adjustment command includes a first adjustment speed and a second drive torque. The first adjustment command is used to instruct the drive motor to adjust its drive torque to the second drive torque according to the first adjustment speed.

7. The method according to any one of claims 1 to 3, characterized in that, The vehicle information includes at least one of the following: vehicle weight, driving conditions, driving mode, or the model of the drive motor.

8. A torque control device for a drive motor, characterized in that, The device includes: The acquisition module is configured to acquire the first driving torque of the drive motor when the target signal is received in response to receiving the target signal; The control module is used to control the drive torque of the drive motor to be adjusted from the first drive torque to the second drive torque according to a first adjustment speed. The first adjustment speed is determined based on the first drive torque, the second drive torque and a first duration. The first duration is the duration required for the drive torque of the drive motor to be adjusted from the first drive torque to the second drive torque. The control module is also used to control the drive motor to run for a second duration according to the second drive torque, the second duration being determined based on the second drive torque and vehicle information; The control module is further configured to control the drive torque of the drive motor to be adjusted from the second drive torque to a target torque, wherein the target torque is determined based on information corresponding to the target signal; The control module is also used to control the drive motor to operate according to the target torque.

9. A computer device, characterized in that, The computer device includes a processor and a memory, the memory storing at least one piece of program code, the at least one piece of program code being loaded and executed by the processor to enable the computer device to implement the torque control method for the drive motor as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one piece of program code, which is loaded and executed by a processor to enable the computer to implement the torque control method for the drive motor as described in any one of claims 1 to 7.

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