Torque control method and device for motor of vehicle and vehicle

Abstract

The invention provides a torque control method and device for a motor of a vehicle and the vehicle. The torque control method for the motor of the vehicle comprises the steps that the actual vehicle speed and the actual accelerator opening degree of the vehicle are obtained; if the actual vehicle speed is smaller than the vehicle speed threshold value, the current torque stepping value of the vehicle under the actual vehicle speed and the actual accelerator opening degree is determined according to the corresponding relation of the vehicle speed, the accelerator opening degree and the torque stepping value when the acceleration of the vehicle is kept at the target acceleration; if the actual vehicle speed is larger than or equal to the vehicle speed threshold value, the current torque stepping value of the vehicle is determined according to the actual acceleration and the target acceleration of the vehicle; and controlling the torque of a motor of the vehicle according to the actual torque of the vehicle and the current torque stepping value of the vehicle. According to the invention, the vehicle acceleration is more stable, and the acceleration consistency of the vehicle is ensured.

Description

Technical Field

[0001] The present application relates to the technical field of torque control of a motor of a vehicle, and more particularly to a method and device for controlling the torque of a motor of a vehicle, and a vehicle. Background Art

[0002] Electric commercial vehicles have a wide range of application scenarios. In many application scenarios, the power demand for vehicles is relatively low, while the requirements for smooth operation of vehicles are high. For example: city buses, which run on fixed routes and have relatively short mileage; airport shuttle buses, which are used to transport passengers between the terminal and the apron in the airport, have a low driving speed and a relatively fixed route; park commuter buses, which provide commuting services for employees and students in large industrial parks, science and technology parks, campuses and other areas; tourist scenic area sightseeing buses, which provide sightseeing services for tourists, have a slow driving speed and high environmental requirements; short-distance passenger transport, which runs on some short-distance passenger routes, such as from urban areas to suburbs and between adjacent towns.

[0003] In the above application scenarios, if the vehicle accelerates too sharply, the following problems will occur: Reduced passenger comfort: Sudden acceleration will cause passengers to lean back, especially for standing passengers who may lose balance, increase the risk of falling, and affect riding comfort and safety; Increased energy consumption: Excessive acceleration will cause an increase in instantaneous current, thereby increasing energy consumption and shortening the vehicle's cruising range; Increased wear of components: Frequent and violent acceleration will cause greater pressure and wear on the vehicle's transmission system, motor and other components, reduce the service life of components, and increase maintenance costs; Accelerated tire wear: Strong acceleration force will increase the friction between the tire and the ground, causing accelerated tire wear and requiring more frequent tire replacement; Driving safety hazards: In the complex traffic environment of urban roads, excessive acceleration may make it more difficult for the driver to control the vehicle, and easily cause traffic accidents such as rear-end collisions; Adverse effects on battery life: Instantaneous large current discharge will cause certain damage to the battery, affecting the overall life and performance of the battery.

[0004] Therefore, it is of great significance to maintain the acceleration consistency of the vehicle. Summary of the invention

[0005] The present application provides a method and device for controlling the torque of a motor of a vehicle and a vehicle, which can ensure acceleration consistency.

[0006] The present application provides a torque control method for a motor of a vehicle, comprising:

[0007] Obtaining the actual speed and actual throttle opening of the vehicle;

[0008] If the actual vehicle speed is less than the vehicle speed threshold, determining the current torque step value of the vehicle under the actual vehicle speed and the actual throttle opening according to the corresponding relationship among the vehicle speed, the throttle opening and the torque step value when the acceleration of the vehicle is maintained at the target acceleration;

[0009] If the actual vehicle speed is greater than or equal to the vehicle speed threshold, determining a current torque step value of the vehicle according to the actual acceleration of the vehicle and the target acceleration;

[0010] The torque of the motor of the vehicle is controlled according to the actual torque of the vehicle and the current torque step value of the vehicle.

[0011] Optionally, determining the current torque step value of the vehicle according to the actual acceleration of the vehicle and the target acceleration includes:

[0012] Determining an actual acceleration difference between the target acceleration and the actual acceleration;

[0013] A current torque step value of the vehicle is determined according to the actual acceleration difference.

[0014] Optionally, determining the current torque step value of the vehicle according to the actual acceleration difference includes:

[0015] If the actual acceleration difference is greater than the acceleration difference threshold and the duration is greater than the duration threshold, the current torque step value of the vehicle is determined according to the corresponding relationship between the acceleration difference and the torque step value and the actual acceleration difference, where the acceleration difference is the difference between the acceleration of the vehicle and the target acceleration;

[0016] If the actual acceleration difference is not greater than the acceleration difference threshold, or the duration is not greater than the duration threshold, it is determined that the current torque step value of the vehicle is zero.

[0017] Optionally, determining the current torque step value of the vehicle according to the actual acceleration of the vehicle and the target acceleration includes:

[0018] Determining a basic torque step value of the vehicle at the actual vehicle speed and the actual throttle opening according to a correspondence between the vehicle speed, the throttle opening and the torque step value;

[0019] Determining, according to a correspondence between the acceleration difference and the torque step value, a torque step value corresponding to the actual acceleration difference as a compensation torque step value of the vehicle;

[0020] A current torque step value of the vehicle is determined according to the basic torque step value and the compensation torque step value.

[0021] Optionally, determining the current torque step value of the vehicle according to the actual acceleration of the vehicle and the target acceleration includes:

[0022] obtaining a requested torque and an actual torque of the vehicle;

[0023] determining a torque difference between the requested torque and the actual torque;

[0024] If the torque difference is greater than the torque threshold, obtaining the actual acceleration of the vehicle, and determining the current torque step value of the vehicle according to the actual acceleration of the vehicle and the target acceleration;

[0025] If the torque difference is not greater than the torque threshold, it is determined that the current torque step value of the vehicle is zero.

[0026] Optionally, the target acceleration is set according to the vehicle model.

[0027] Optionally, controlling the torque of the vehicle according to the actual torque of the vehicle and the current torque step value of the vehicle includes:

[0028] determining a torque sum value of the actual torque and a current torque step value of the vehicle;

[0029] If the torque sum value is less than the maximum allowable torque of the vehicle, controlling the torque of the vehicle to be the torque sum value;

[0030] If the torque sum value is not less than the maximum allowable torque of the vehicle, the torque of the vehicle is controlled to be the maximum allowable torque.

[0031] The present application provides a computer-readable storage medium having a program stored thereon. When the program is executed by a processor, the torque control method of the motor of the vehicle as described in any one of the above items is implemented.

[0032] The present application provides a torque control device for a motor of a vehicle, comprising one or more processors, for implementing a torque control method for a motor of a vehicle as described in any one of the above.

[0033] The present application also provides a vehicle, comprising:

[0034] Motors; and

[0035] The torque control device as described above is electrically connected to the motor.

[0036] In some embodiments, if the actual speed of the vehicle is less than the speed threshold, the current torque step value of the vehicle at the actual speed and the actual throttle opening is determined according to the correspondence between the vehicle speed, throttle opening and torque step value when the vehicle acceleration is maintained at the target acceleration; according to the current torque step value of the vehicle, the output torque of the vehicle's motor is controlled so that the vehicle's acceleration is close to the target acceleration; if the actual speed of the vehicle is greater than or equal to the speed threshold, the current torque step value of the vehicle is determined according to the actual acceleration of the vehicle and the target acceleration so that the vehicle's acceleration is close to the target acceleration; in this way, no matter what the actual driving conditions of the vehicle are, the acceleration of the vehicle is close to the target acceleration, the vehicle acceleration is smoother, and the acceleration consistency of the vehicle is ensured.

[0037] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0039] Figure 1 FIG. 1 is a flow chart showing an embodiment of a method for controlling torque of a motor of a vehicle according to the present application.

[0040] Figure 2 The diagram is a schematic diagram of an embodiment of a correspondence relationship among the vehicle speed, throttle opening, and torque step value when the vehicle acceleration is maintained at the target acceleration.

[0041] Figure 3 Shown is a structural block diagram of an embodiment of a torque control device for a motor of a vehicle of the present application. DETAILED DESCRIPTION

[0042] The present application provides a method and device for controlling the torque of a motor of a vehicle and a vehicle. The method and device for controlling the torque of a motor of a vehicle and a vehicle of the present application are described in detail below in conjunction with the accompanying drawings. The features of the following embodiments and implementations may be combined with each other without conflict.

[0043] The present application provides a vehicle, comprising: a motor and a torque control device provided in the present application. The torque control device is electrically connected to the motor and is used to control the torque output by the motor. In some embodiments, the torque control device is provided in a vehicle controller. In other embodiments, the torque control device and the vehicle controller are provided separately.

[0044] Figure 1The flowchart of one embodiment of the torque control method 10 of the motor of the vehicle of the present application is shown. The torque control device provided by the present application is used to execute the torque control method 10.

[0045] like Figure 1 As shown, the torque control method 10 of the motor of the vehicle includes: steps 11 to 15.

[0046] Step 11, obtaining the actual vehicle speed and actual throttle opening.

[0047] The actual speed of the vehicle can be directly obtained through the vehicle speed sensor. The actual throttle opening can be directly obtained through the accelerator pedal sensor. The actual throttle opening is obtained through the position of the accelerator pedal. The actual speed indicates the current driving condition of the vehicle. The actual throttle opening indicates the driver's acceleration demand for the vehicle. The larger the actual throttle opening, the greater the driver's acceleration demand, the higher the torque required by the motor to output, and the more urgent the torque increase. Conversely, the smaller the actual throttle opening, the smaller the driver's acceleration demand.

[0048] Step 12: Determine whether the actual speed of the vehicle is less than a speed threshold.

[0049] The vehicle speed threshold is pre-set. For different vehicle models, the vehicle speed threshold may be different. According to the relationship between the actual vehicle speed and the vehicle speed threshold, it is determined how to further control the torque of the vehicle's motor.

[0050] Step 13, if the actual vehicle speed is less than the vehicle speed threshold, determine the current torque step value of the vehicle under the actual vehicle speed and the actual throttle opening according to the corresponding relationship among the vehicle speed, throttle opening and torque step value when the vehicle acceleration is maintained at the target acceleration.

[0051] In this application, the torque step value is a scalar, which indicates how fast the torque of the vehicle increases. The target acceleration is the acceleration that the vehicle wants to maintain. When the vehicle is running at the target acceleration, the vehicle can maintain a stable acceleration and make the passengers feel more comfortable.

[0052] In some embodiments, the target acceleration is set according to the vehicle model. The same target acceleration is set for vehicles of the same model to ensure that the vehicle can accelerate stably under different working conditions and the passenger experience will not be reduced due to excessive or slow acceleration.

[0053] Table 1 shows an embodiment of the correspondence between the vehicle speed, throttle opening, and torque step value when the vehicle acceleration is maintained at the target acceleration.

[0054]

[0055] Table 1

[0056] Among them, A1~A5 are vehicle speeds, B1~B5 are throttle openings, and C1~G5 are torque step values. Table 1 is calibrated based on keeping the vehicle at the target acceleration. For example, when the vehicle speed is A1 and the throttle opening is B1, the torque step value is C1. By controlling the torque of the vehicle's motor according to this torque step value, the vehicle's acceleration can be close to the target acceleration.

[0057] When the actual speed of the vehicle is less than the speed threshold, it indicates that the vehicle is in the starting state, and the current torque step value of the vehicle is determined according to the actual speed of the vehicle and the actual throttle opening through the corresponding relationship shown in Table 1. For example, when the actual speed is A1 and the actual throttle opening is B1, the current torque step value of the vehicle is C1.

[0058] In some embodiments, in the correspondence between the vehicle speed, throttle opening and torque step value when the acceleration of the vehicle is maintained at the target acceleration, the vehicle speed and throttle opening are intervals. The current torque step value of the vehicle is determined according to the actual vehicle speed and the interval in which the actual throttle opening is located.

[0059] Figure 2 The diagram is a schematic diagram of an embodiment of a correspondence relationship among the vehicle speed, throttle opening, and torque step value when the vehicle acceleration is maintained at the target acceleration.

[0060] like Figure 2 As shown, the horizontal axis is the vehicle speed, the vertical axis is the throttle opening, and curve C is the torque step value. Substitute the actual vehicle speed and the actual throttle opening into curve C, and find the corresponding torque step value as the current torque step value of the vehicle.

[0061] In some embodiments, the torque step value of the vehicle increases as the vehicle speed increases, and increases as the throttle opening increases.

[0062] In some embodiments, the corresponding relationship between the vehicle speed, throttle opening and torque step value when the vehicle acceleration is maintained at the target acceleration is a functional relationship. The actual vehicle speed and actual throttle opening of the vehicle are substituted into the functional relationship to obtain the current torque step value of the vehicle.

[0063] Step 14: If the actual vehicle speed is greater than or equal to the vehicle speed threshold, determine the current torque step value of the vehicle according to the actual acceleration and the target acceleration of the vehicle.

[0064] When the actual speed of the vehicle is greater than or equal to the speed threshold, it means that the vehicle has reached a certain speed. At this time, the acceleration request for the vehicle and the acceleration request when the vehicle is at a low speed should be processed separately. When the actual speed of the vehicle is greater than or equal to the speed threshold, the current torque step value of the vehicle is determined according to the relationship between the actual acceleration of the vehicle and the target acceleration, so that the acceleration of the vehicle is close to the target acceleration.

[0065] Step 15, controlling the torque of the motor of the vehicle according to the actual torque of the vehicle and the current torque step value of the vehicle.

[0066] The current torque step value of the vehicle indicates the torque increase speed of the motor of the vehicle. The sum of the actual torque of the vehicle and the current torque step value of the vehicle is used as the output torque of the motor of the vehicle, and the motor of the vehicle is controlled to output the output torque. In this way, the acceleration of the vehicle is maintained at the target acceleration under the output torque.

[0067] In some embodiments, if the actual speed of the vehicle is less than the speed threshold, the current torque step value of the vehicle at the actual speed and the actual throttle opening is determined according to the corresponding relationship among the vehicle speed, throttle opening and torque step value when the vehicle acceleration is maintained at the target acceleration; according to the current torque step value of the vehicle, the output torque of the vehicle's motor is controlled so that the vehicle's acceleration is close to the target acceleration; if the actual speed of the vehicle is greater than or equal to the speed threshold, the current torque step value of the vehicle is determined according to the actual acceleration of the vehicle and the target acceleration, so that the vehicle's acceleration is close to the target acceleration; in this way, no matter what the actual driving conditions of the vehicle are, the acceleration of the vehicle is close to the target acceleration under different loads, different slope road conditions and different drivers' operations, the control of the vehicle's motor is smoother, the vehicle acceleration is smoother, the acceleration consistency of the vehicle is ensured, the passenger comfort can be improved, the vehicle's energy consumption can be reduced, the wear of vehicle components can be reduced, the safety hazards can be reduced and the battery life can be extended.

[0068] In some embodiments, step 14 includes: obtaining the requested torque and actual torque of the vehicle; determining the torque difference between the requested torque and the actual torque; if the torque difference is greater than a torque threshold, obtaining the actual acceleration of the vehicle, and determining the current torque step value of the vehicle based on the actual acceleration of the vehicle and the target acceleration; if the torque difference is not greater than the torque threshold, determining that the current torque step value of the vehicle is zero.

[0069] When the actual speed of the vehicle is greater than or equal to the speed threshold, the requested torque and actual torque of the vehicle are obtained. The requested torque can be calculated based on parameters such as the actual speed of the motor, the accelerator pedal opening, the brake pedal status, the motor temperature, and the battery status (such as SOC, voltage, current). The requested torque can be calculated by the vehicle controller of the vehicle, and the torque control device obtains the data through the vehicle controller. The requested torque can also be calculated by the torque control device itself. The actual torque can be directly obtained through the torque control device.

[0070] The torque threshold is used to determine the acceleration demand of the vehicle. If the torque difference between the requested torque and the actual torque is greater than the torque threshold, it means that the current actual torque is far from meeting the requested torque. At this time, the current torque step value of the vehicle is determined based on the actual acceleration of the vehicle and the target acceleration. If the torque difference is not greater than the torque threshold, it means that the actual torque is close to the requested torque, and the actual torque can meet the acceleration demand of the vehicle to a certain extent. At this time, the current torque step value of the vehicle is determined to be zero, and the vehicle does not change the current actual torque.

[0071] In some embodiments, step 14 includes: determining an actual acceleration difference between the target acceleration and the actual acceleration; and determining a current torque step value of the vehicle based on the actual acceleration difference.

[0072] The actual acceleration difference can represent how much the actual acceleration of the vehicle differs from the target acceleration. According to the actual acceleration difference, the current torque step value of the vehicle is determined, so that the actual acceleration of the vehicle can be close to the target acceleration, thereby maintaining the acceleration consistency of the vehicle.

[0073] In some embodiments, step 14 includes: if the torque difference is greater than the torque threshold, determining an actual acceleration difference between the target acceleration and the actual acceleration; and determining a current torque step value of the vehicle based on the actual acceleration difference.

[0074] In some embodiments, determining the current torque step value of the vehicle according to the actual acceleration difference includes:

[0075] If the actual acceleration difference is greater than the acceleration difference threshold and the duration is greater than the duration threshold, the current torque step value of the vehicle is determined according to the corresponding relationship between the acceleration difference and the torque step value and the actual acceleration difference, where the acceleration difference is the difference between the vehicle acceleration and the target acceleration;

[0076] If the actual acceleration difference is not greater than the acceleration difference threshold, or the duration is not greater than the duration threshold, it is determined that the current torque step value of the vehicle is zero.

[0077] If the actual acceleration difference is not greater than the acceleration difference threshold, it means that the actual acceleration is close to the target acceleration, and the current torque step value of the vehicle is determined to be zero, and the output torque of the vehicle's motor is not changed, that is, the acceleration of the vehicle is not changed.

[0078] If the actual acceleration difference is greater than the acceleration difference threshold, the duration is determined. The duration threshold is pre-set and is used to determine the duration of the difference between the actual acceleration and the target acceleration. The duration threshold can be set according to the vehicle model and specific usage scenario.

[0079] The timing starts from the moment when the actual acceleration difference is greater than the acceleration difference threshold. When the duration is not greater than the duration threshold, the current torque step value of the vehicle is determined to be zero. When the duration is greater than the duration threshold, it means that the difference between the actual acceleration and the target acceleration is large and the duration is long. At this time, the current torque step value of the vehicle is further determined based on the actual acceleration difference.

[0080] Table 2 shows an embodiment of the correspondence between the acceleration difference and the torque step value.

[0081] Acceleration difference H1 H2 H3 H4 H5 Torque step value I1 I2 I3 I4 I5

[0082] Table 2

[0083] Table 2 shows the correspondence relationship pre-calibrated according to the acceleration difference and the torque step value so that the vehicle is kept at the target acceleration. Among them, H1~H5 are the acceleration difference values, and I1~I5 are the torque step values. For example, when the acceleration difference value is H1 and the torque step value is I1, the acceleration of the vehicle can be close to the target acceleration.

[0084] Substituting the actual acceleration difference into the corresponding relationship shown in Table 2, the current torque step value of the vehicle can be obtained. For example, when the actual acceleration difference is H2, the current torque step value of the vehicle is I2. By controlling the output torque of the motor according to the sum of I2 and the actual torque, the acceleration of the vehicle can be close to the target acceleration.

[0085] In some embodiments, the correspondence between the acceleration difference and the torque step value is a functional relationship, and the actual acceleration difference is substituted into the functional relationship to determine the current torque step value of the vehicle corresponding to the actual acceleration difference.

[0086] In some embodiments, step 14 includes: if the torque difference is greater than the torque threshold, determining the actual acceleration difference between the target acceleration and the actual acceleration; if the actual acceleration difference is greater than the acceleration difference threshold, and the duration is greater than the duration threshold, determining the current torque step value of the vehicle based on the actual acceleration difference.

[0087] In some embodiments, step 14 includes: determining the basic torque step value of the vehicle at the actual vehicle speed and the actual throttle opening according to the correspondence between the vehicle speed, throttle opening and torque step value; determining the torque step value corresponding to the actual acceleration difference according to the correspondence between the acceleration difference and the torque step value as the compensation torque step value of the vehicle; determining the current torque step value of the vehicle according to the basic torque step value and the compensation torque step value.

[0088] When the actual speed of the vehicle is greater than or equal to the speed threshold, the current torque step value of the vehicle can be determined by dividing it into two parts: the basic torque step value and the compensation torque step value. The basic torque step value is determined according to the vehicle speed and throttle opening, which can ensure the basic power of the vehicle. The compensation torque step value is determined according to the actual acceleration and target acceleration of the vehicle. When the actual acceleration of the vehicle is too far from the target acceleration, the compensation torque is output to make the actual acceleration close to the target acceleration. The sum of the basic torque step value and the compensation torque step value is taken as the current torque step value of the vehicle.

[0089] In some embodiments, the basic torque step value is determined by the corresponding relationship shown in Table 1, and the compensation torque step value is determined by the corresponding relationship shown in Table 2.

[0090] In some embodiments, step 15 includes: determining the torque sum of the actual torque and the current torque step value of the vehicle; if the torque sum is less than the maximum allowable torque of the vehicle, controlling the torque of the vehicle to be the torque sum; if the torque sum is not less than the maximum allowable torque of the vehicle, controlling the torque of the vehicle to be the maximum allowable torque.

[0091] After determining the current torque step value of the vehicle, determine the torque sum value. The maximum allowable torque of the vehicle indicates the maximum torque that the motor of the vehicle can output. When the torque sum value is within the maximum allowable torque range, the torque sum value is output. When the torque sum value exceeds the maximum allowable torque, the maximum allowable torque is output to prevent exceeding the torque limit of the motor and to meet the acceleration requirements of the vehicle as much as possible.

[0092] Figure 3 Shown is a structural block diagram of an embodiment of a torque control device for a motor of a vehicle of the present application.

[0093] like Figure 3 As shown, the torque control device of the motor of the vehicle includes one or more processors 21 for implementing the torque control method 10 of the motor of the vehicle as described above.

[0094] In some embodiments, the torque control device of the motor of the vehicle may include a computer-readable storage medium 22, which may store a program that can be called by the processor 21 and may include a non-volatile storage medium. In some embodiments, the torque control device of the motor of the vehicle may include a memory 23 and an interface 24. In some embodiments, the torque control device of the motor of the vehicle may also include other hardware according to actual applications.

[0095] The computer-readable storage medium 22 of the embodiment of the present application stores a program thereon, and when the program is executed by the processor 21, it is used to implement the torque control method 10 of the motor of the vehicle as described above.

[0096] The present application may take the form of a computer program product implemented on one or more computer-readable storage media 22 (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program code. The computer-readable storage medium 22 includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. The information can be a computer-readable instruction, a data structure, a module of a program, or other data. Examples of computer-readable storage media 22 include but are not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassette, tape disk storage or other magnetic storage device or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

Claims

1. A method for controlling the torque of a motor of a vehicle, characterized in that: include: Obtaining the actual speed and actual throttle opening of the vehicle; If the actual vehicle speed is less than the vehicle speed threshold, determining the current torque step value of the vehicle under the actual vehicle speed and the actual throttle opening according to the corresponding relationship among the vehicle speed, the throttle opening and the torque step value when the acceleration of the vehicle is maintained at the target acceleration; If the actual vehicle speed is greater than or equal to the vehicle speed threshold, determining a current torque step value of the vehicle according to the actual acceleration of the vehicle and the target acceleration; The torque of the motor of the vehicle is controlled according to the actual torque of the vehicle and the current torque step value of the vehicle.

2. The method for controlling the torque of a motor of a vehicle according to claim 1, characterized in that: Determining the current torque step value of the vehicle according to the actual acceleration of the vehicle and the target acceleration includes: Determining an actual acceleration difference between the target acceleration and the actual acceleration; A current torque step value of the vehicle is determined according to the actual acceleration difference.

3. The method for controlling the torque of a motor of a vehicle according to claim 2, characterized in that: Determining the current torque step value of the vehicle according to the actual acceleration difference includes: If the actual acceleration difference is greater than the acceleration difference threshold and the duration is greater than the duration threshold, the current torque step value of the vehicle is determined according to the corresponding relationship between the acceleration difference and the torque step value and the actual acceleration difference, where the acceleration difference is the difference between the acceleration of the vehicle and the target acceleration; If the actual acceleration difference is not greater than the acceleration difference threshold, or the duration is not greater than the duration threshold, it is determined that the current torque step value of the vehicle is zero.

4. The method for controlling the torque of a motor of a vehicle according to claim 2, characterized in that: Determining the current torque step value of the vehicle according to the actual acceleration of the vehicle and the target acceleration includes: Determining a basic torque step value of the vehicle at the actual vehicle speed and the actual throttle opening according to a correspondence between the vehicle speed, the throttle opening and the torque step value; Determining, according to a correspondence between the acceleration difference and the torque step value, a torque step value corresponding to the actual acceleration difference as a compensation torque step value of the vehicle; A current torque step value of the vehicle is determined according to the basic torque step value and the compensation torque step value.

5. The method for controlling the torque of a motor of a vehicle according to claim 1, characterized in that: Determining the current torque step value of the vehicle according to the actual acceleration of the vehicle and the target acceleration includes: obtaining a requested torque and an actual torque of the vehicle; determining a torque difference between the requested torque and the actual torque; If the torque difference is greater than the torque threshold, obtaining the actual acceleration of the vehicle, and determining the current torque step value of the vehicle according to the actual acceleration of the vehicle and the target acceleration; If the torque difference is not greater than the torque threshold, it is determined that the current torque step value of the vehicle is zero.

6. The method for controlling the torque of a motor of a vehicle according to claim 1, characterized in that: The target acceleration is set according to the vehicle model.

7. The method for controlling the torque of a motor of a vehicle according to claim 1, characterized in that: The controlling the torque of the vehicle according to the actual torque of the vehicle and the current torque step value of the vehicle comprises: determining a torque sum value of the actual torque and a current torque step value of the vehicle; If the torque sum value is less than the maximum allowable torque of the vehicle, controlling the torque of the vehicle to be the torque sum value; If the torque sum value is not less than the maximum allowable torque of the vehicle, the torque of the vehicle is controlled to be the maximum allowable torque.

8. A computer-readable storage medium, characterized in that: A program is stored thereon, and when the program is executed by a processor, the torque control method of the motor of the vehicle according to any one of claims 1-7 is implemented.

9. A torque control device for a motor of a vehicle, characterized in that: The invention comprises one or more processors for implementing the torque control method of the motor of the vehicle according to any one of claims 1-7.

10. A vehicle, characterized in that: include: Motor; and The torque control device as claimed in claim 9, electrically connected to the motor.

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