Torque control method and device for motor of vehicle and vehicle

Abstract

The application provides a torque control method and device of an electric machine of a vehicle and the vehicle. The torque control method of the electric machine of the vehicle comprises the following steps: acquiring an actual vehicle speed and an actual throttle opening; if the actual vehicle speed is less than a vehicle speed threshold, determining a current torque step value of the vehicle under the actual vehicle speed and the actual throttle opening according to a corresponding relationship among the vehicle speed, the throttle opening and the torque step value when the acceleration of the vehicle is kept at a target acceleration; if the actual vehicle speed is greater than or equal to the vehicle speed threshold, determining the current torque step value of the vehicle according to the actual acceleration of the vehicle and the target acceleration; and controlling the torque of the electric machine of the vehicle according to the actual torque of the vehicle and the current torque step value of the vehicle. The application can make the acceleration of the vehicle more stable and ensure the acceleration consistency of the vehicle.

Description

Technical Field

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

[0002] Electric commercial vehicles have a wide range of applications. In many of these scenarios, the power requirements are relatively low, but the requirements for smooth operation are high. For example: city buses, which run fixed routes and relatively short mileage; airport shuttles, which transport passengers between terminals and aprons within airports, travel at lower speeds and on relatively fixed routes; campus shuttles, which provide commuting services for employees and students in large industrial parks, science and technology parks, and campuses; tourist attraction sightseeing buses, which provide sightseeing services for tourists, travel at slower speeds and have higher environmental requirements; and short-distance passenger transport, which operates on short-distance routes, such as between urban areas and suburbs or between adjacent towns.

[0003] In the above application scenarios, if the vehicle accelerates too sharply, it will lead to the following problems: 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 the comfort and safety of riding; Increased energy consumption: Excessive acceleration will cause the instantaneous current to increase, thereby increasing energy consumption and shortening the vehicle's cruising range; Increased component wear: Frequent and violent acceleration will cause greater pressure and wear on the vehicle's transmission system, motor and other components, reducing the service life of components and increasing maintenance costs; Accelerated tire wear: Strong acceleration force will increase the friction between the tires and the ground, resulting in accelerated tire wear and the need to replace tires more frequently; 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, easily leading to 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 method for controlling the torque of 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 a current torque step value of the vehicle at the actual vehicle speed and the actual throttle opening according to a correspondence among the vehicle speed, throttle opening, and torque step value when the vehicle acceleration 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 lasts longer than the duration threshold, determining a current torque step value of the vehicle based on a correspondence 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;

[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 among 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 a torque threshold, obtaining an actual acceleration of the vehicle, and determining a 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 method for controlling the torque of a motor of a 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 the torque control method for the 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 a speed threshold, the current torque step value of the vehicle at the actual speed and the actual throttle opening is determined based on the correspondence between the vehicle speed, throttle opening and torque step value when the vehicle acceleration is maintained at the target acceleration; based on 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 based on 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, regardless of the actual driving conditions of the vehicle, the vehicle's acceleration 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 FIG. 1 is a schematic diagram showing an embodiment of a correspondence between a vehicle speed, an accelerator opening, and a torque step value when the vehicle acceleration is maintained at a 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 according to the present application. DETAILED DESCRIPTION

[0042] The present application provides a method and apparatus for controlling the torque of a motor of a vehicle, and a vehicle. The present application's method and apparatus for controlling the torque of a motor of a vehicle, and a vehicle are described in detail below with reference to the accompanying drawings. The features of the following embodiments and implementations may be combined with each other unless they conflict.

[0043] This application provides a vehicle comprising: a motor and a torque control device provided herein. The torque control device is electrically connected to the motor and is configured to control the torque output by the motor. In some embodiments, the torque control device is provided within a vehicle controller. In other embodiments, the torque control device and the vehicle controller are provided independently.

[0044] Figure 1FIG. 1 is a flow chart of an embodiment of a torque control method 10 for a motor of a vehicle according to the present application. The torque control device provided in 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 a vehicle includes steps 11 to 15 .

[0046] Step 11: Obtain the actual vehicle speed and actual throttle opening.

[0047] The vehicle's actual speed can be directly obtained through the vehicle's speed sensor. The actual throttle opening can be directly obtained through the accelerator pedal sensor. The actual throttle opening is determined by the position of the accelerator pedal. The actual speed indicates the vehicle's current driving condition. The actual throttle opening indicates the driver's acceleration demand. A larger actual throttle opening indicates a greater acceleration demand, a higher torque output from the motor, and a more urgent need for torque increase. Conversely, a smaller actual throttle opening indicates a lower 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 and may vary for different vehicle models. The relationship between the actual vehicle speed and the speed threshold is used to determine how to further control the torque of the vehicle's motor.

[0050] Step 13: If the actual vehicle speed is less than the 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 between 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 quantity that indicates how quickly the vehicle's torque increases. The target acceleration is the desired acceleration for the vehicle. When the vehicle is traveling at the target acceleration, it accelerates smoothly, making passengers feel more comfortable.

[0052] In some embodiments, the target acceleration is set based on the vehicle model. Setting the same target acceleration for vehicles of the same model ensures stable acceleration under different operating conditions, preventing a degradation in the passenger experience 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] A1 to A5 represent vehicle speeds, B1 to B5 represent throttle openings, and C1 to G5 represent torque step values. Table 1 is calibrated to maintain the vehicle's target acceleration. For example, when the vehicle speed is A1 and the throttle opening is B1, the torque step value is C1. Controlling the vehicle's motor torque according to this torque step value can keep the vehicle's acceleration close to the target acceleration.

[0057] When the vehicle's actual speed is less than the speed threshold, indicating that the vehicle is in the starting state, the vehicle's current torque step value is determined based on the vehicle's actual speed and actual throttle opening, using the corresponding relationship shown in Table 1. For example, when the actual speed is A1 and the actual throttle opening is B1, the vehicle's current torque step value is C1.

[0058] In some embodiments, when the vehicle's acceleration is maintained at a target acceleration, the corresponding relationship between the vehicle's speed, throttle opening, and torque step value is such that the vehicle's speed and throttle opening are intervals. The current torque step value of the vehicle is determined based on the actual vehicle speed and the interval within which the actual throttle opening falls.

[0059] Figure 2 FIG. 1 is a schematic diagram showing an embodiment of a correspondence between a vehicle speed, an accelerator opening, and a torque step value when the vehicle acceleration is maintained at a target acceleration.

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

[0061] In some embodiments, the torque step value of the vehicle increases as the vehicle speed increases, and also 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 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 based on the actual acceleration and the target acceleration of the vehicle.

[0064] When the vehicle's actual speed is greater than or equal to the speed threshold, it indicates that the vehicle has reached a certain speed. Acceleration requests at this time and acceleration requests at lower speeds should be processed separately. When the vehicle's actual speed is greater than or equal to the speed threshold, the current torque step value is determined based on the relationship between the actual acceleration and the target acceleration, so that the vehicle's acceleration approaches the target acceleration.

[0065] Step 15: Control 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 vehicle's current torque step value represents the rate at which the vehicle's motor's torque is increasing. The sum of the vehicle's actual torque and the current torque step value is used as the motor's output torque, and the motor is controlled to output this output torque. This maintains the vehicle's acceleration at the target acceleration under this 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 under the actual speed and actual throttle opening is determined based on the correspondence between the vehicle speed, throttle opening and torque step value when the vehicle acceleration is maintained at the target acceleration; based on 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 based on 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, regardless of the actual driving conditions of the vehicle, the vehicle's acceleration 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, passenger comfort can be improved, the vehicle's energy consumption can be reduced, the wear of vehicle components can be reduced, safety hazards can be reduced and 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 and target acceleration of the vehicle; if the torque difference is not greater than the torque threshold, determining the current torque step value of the vehicle to be zero.

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

[0070] The torque threshold is used to determine the vehicle's acceleration requirements. If the difference between the requested and actual torques is greater than the threshold, the current actual torque falls far short of the requested torque. In this case, the current torque step value is determined based on the vehicle's actual acceleration and target acceleration. If the difference is within the threshold, the actual torque is close to the requested torque and can meet the vehicle's acceleration requirements to a certain extent. In this case, the current torque step value is set to zero, and the vehicle's current actual torque remains unchanged.

[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 indicates how much the vehicle's actual acceleration differs from the target acceleration. Based on this actual acceleration difference, the vehicle's current torque step value is determined, allowing the vehicle's actual acceleration to approach the target acceleration, thereby maintaining acceleration consistency.

[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 based on 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 based on the corresponding relationship between the acceleration difference and the torque step value and the actual acceleration difference. 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 vehicle's acceleration is not changed.

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

[0079] The timer starts counting from the moment the actual acceleration difference exceeds the acceleration difference threshold. If the duration does not exceed the duration threshold, the vehicle's current torque step value is determined to be zero. If the duration exceeds the duration threshold, indicating a significant difference between the actual acceleration and the target acceleration, and for a long period of time, the vehicle's current torque step value is further determined based on the actual acceleration difference.

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

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

[0082] Table 2

[0083] Table 2 shows the pre-calibrated correspondence between acceleration differentials and torque step values ​​to maintain the vehicle at the target acceleration. H1 to H5 represent the acceleration differentials, and I1 to I5 represent the torque step values. For example, when the acceleration differential is H1 and the torque step value is I1, the vehicle's acceleration can be kept close to the target acceleration.

[0084] Substituting the actual acceleration difference into the corresponding relationship shown in Table 2 yields the vehicle's current torque step value. For example, if the actual acceleration difference is H2, the vehicle's current torque step value is I2. By controlling the motor's output torque based on the sum of I2 and the actual torque, the vehicle's acceleration can be brought 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 actual throttle opening based on the correspondence between the vehicle speed, throttle opening and torque step value; determining the torque step value corresponding to the actual acceleration difference as the compensation torque step value of the vehicle based on the correspondence between the acceleration difference and the torque step value; and determining the current torque step value of the vehicle based on the basic torque step value and the compensation torque step value.

[0088] When the vehicle's actual speed is greater than or equal to the speed threshold, the vehicle's current torque step value is determined separately: a base torque step value and a compensation torque step value. The base torque step value is determined based on the vehicle's speed and throttle position to ensure the vehicle's basic dynamics. The compensation torque step value is determined based on the vehicle's actual acceleration and target acceleration. When the actual acceleration differs significantly from the target acceleration, a compensation torque is applied to bring the actual acceleration closer to the target. The sum of the base and compensation torque step values ​​is used as the vehicle's current torque step value.

[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 vehicle's current torque step value, the torque sum is determined. The vehicle's maximum allowable torque represents the maximum torque the vehicle's motor can output. When the torque sum is within the maximum allowable torque range, the torque sum is output. When the torque sum exceeds the maximum allowable torque, the maximum allowable torque is output to prevent exceeding the motor's torque limit and to maximize vehicle acceleration.

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

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

[0094] In some embodiments, the vehicle's motor torque control device may include a computer-readable storage medium 22, which may store a program callable by the processor 21 and may include a non-volatile storage medium. In some embodiments, the vehicle's motor torque control device may include a memory 23 and an interface 24. In some embodiments, the vehicle's motor torque control device may also include other hardware depending on the actual application.

[0095] The computer-readable storage medium 22 of the embodiment of the present application stores a program thereon, which, when executed by the processor 21 , is used to implement the torque control method 10 for 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 may implement information storage by any method or technology. The information may be computer-readable instructions, data structures, modules 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, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, tape disk storage or other magnetic storage devices, 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 a current torque step value of the vehicle at the actual vehicle speed and the actual throttle opening according to a correspondence among the vehicle speed, throttle opening, and torque step value when the vehicle acceleration 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, wherein: 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, wherein: 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 lasts longer than the duration threshold, determining a current torque step value of the vehicle based on a correspondence 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; 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, wherein: 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 among 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, wherein: 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 a torque threshold, obtaining an actual acceleration of the vehicle, and determining a 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, wherein: 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, wherein: The controlling the torque of the vehicle according to the actual torque of the vehicle and the current torque step value of the vehicle includes: 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 to 7 is implemented.

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

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

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