Motor demand torque determination method and device, equipment and storage medium

Abstract

The invention discloses a motor demand torque determination method, device and equipment and a storage medium, relates to the technical field of vehicle control, and discloses the motor demand torque determination method. Comprising the steps that driving input information, environment parameter information, mode setting information, demand torque control information, flag bit state information, motor torque control information and gearbox parameter information are collected; determining a target driver demand torque based on the driving input information, the environmental parameter information, the mode setting information, the demand torque control information and the flag bit state information; and determining a motor demand torque based on the target driver demand torque, the motor torque control information and the gearbox parameter information. The power requirements of the four-wheel-drive electric vehicle under various operation conditions are comprehensively considered, accurate power distribution is achieved in the process of determining the required torque of the motor, and the dynamic performance of the four-wheel-drive electric vehicle is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a method, device, equipment and storage medium for determining motor required torque. Background Art

[0002] Electric vehicles have the advantages of energy saving, high efficiency, low or zero emission, low noise, fast acceleration, and low cost of use. The electric vehicle market is growing, and various OEMs have begun to develop electric vehicles. Compared with two-wheel drive vehicles, four-wheel drive vehicles can more independently distribute front / rear axle torque and have stronger passability on various road surfaces.

[0003] Four-wheel drive electric vehicles usually have two or more drive motors, which are distributed on the front and rear axles. The required torque of the front and rear motors is usually calculated in the vehicle control unit, and then the required value is sent to the motor control unit, which controls the actual output torque of the front and rear motors to ensure that the front and rear motors can work normally. However, the existing solutions consider relatively simple operating conditions when determining the required torque of the motor, and cannot perform accurate power distribution.

[0004] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of this application is to provide an invention title, which aims to solve the technical problem of how to achieve accurate power distribution in the process of determining the required torque of the motor.

[0006] To achieve the above object, the present application proposes a method for determining a motor required torque, the method comprising:

[0007] Collect driving input information, environmental parameter information, mode setting information, required torque control information, flag status information, motor torque control information and transmission parameter information;

[0008] determining a target driver demand torque based on the driving input information, the environmental parameter information, the mode setting information, the demand torque control information, and the flag status information;

[0009] A motor demand torque is determined based on the target driver demand torque, the motor torque control information, and the transmission parameter information.

[0010] In one embodiment, the driving input information includes vehicle speed, accelerator pedal opening and brake pedal opening, the environmental parameter information includes slope, and the mode setting information includes gear position, coasting energy recovery intensity and driving mode;

[0011] The step of determining the target driver demand torque based on the driving input information, the environmental parameter information, the mode setting information, the demand torque control information and the flag status information comprises:

[0012] determining a driver-demand throttle torque mapping table and a driver-demand creep torque mapping table based on the gear position, the coasting energy recovery intensity, and the driving mode;

[0013] determining a driver required throttle torque from the driver required throttle torque mapping table based on the vehicle speed and the throttle pedal opening;

[0014] determining a driver demand creep torque based on the vehicle speed, the slope, the brake pedal opening, and the driver demand creep torque mapping table;

[0015] determining a driver-required first torque based on the driver-required throttle torque and the driver-required creep torque;

[0016] A target driver demand torque is determined based on the driver demand first torque, the driving input information, the mode setting information, the demand torque control information, and the flag status information.

[0017] In one embodiment, the driver demand creep torque mapping table includes a driver demand creep first torque mapping table, a driver demand creep second torque mapping table, and a creep torque correction coefficient mapping table;

[0018] The step of determining the driver required creep torque based on the vehicle speed, the slope, the brake pedal opening and the driver required creep torque mapping table comprises:

[0019] determining a driver demand creep first torque from the driver demand creep first torque mapping table based on the vehicle speed;

[0020] determining a driver demand creep second torque from the driver demand creep second torque mapping table based on the slope;

[0021] determining a creep torque correction coefficient from the creep torque correction coefficient mapping table based on the brake pedal opening;

[0022] A driver requested creep torque is determined based on the driver requested creep first torque, the driver requested creep second torque, and the creep torque correction coefficient.

[0023] In one embodiment, the required torque control information includes an adaptive cruise control required torque, a preset speed limit torque, a wheel-side allowed first torque, a wheel-side allowed second torque, a braking energy recovery torque, a preset moment driver required third torque, a chassis torque reduction torque, and a chassis torque increase torque, wherein the wheel-side allowed first torque is greater than the wheel-side allowed second torque, and the flag status information includes an adaptive cruise control flag status, a braking energy recovery torque request flag status, a chassis torque increase request flag status, and a chassis torque reduction request flag status;

[0024] The step of determining the target driver demand torque based on the driver demand first torque, the driving input information, the mode setting information, the demand torque control information and the flag status information comprises:

[0025] Determining a driver demand second torque based on the driver demand first torque, the adaptive cruise flag state, the adaptive cruise demand torque, the preset vehicle speed limit torque, the wheel side allowed first torque, and the wheel side allowed second torque;

[0026] Determine the driver demand third torque based on the driver demand second torque, the driving mode, the vehicle speed, the accelerator pedal opening, the brake pedal opening, the wheel side allowed first torque, the wheel side allowed second torque, the braking energy recovery torque request flag state, the braking energy recovery torque and the driver demand third torque at the preset time;

[0027] A driver demand fourth torque is determined based on the driver demand third torque, the chassis torque reduction request flag state, the chassis torque increase request flag state, the chassis torque reduction torque and the chassis torque increase torque, and the driver demand fourth torque is used as the target driver demand torque.

[0028] In one embodiment, the step of determining the driver's required third torque based on the driver's required second torque, the driving mode, the vehicle speed, the accelerator pedal opening, the brake pedal opening, the wheel-side allowed first torque, the wheel-side allowed second torque, the braking energy recovery torque request flag state, the braking energy recovery torque, and the driver's required third torque at the preset time includes:

[0029] Determining a driver-required third basic torque based on the driver-required second torque, the driving mode, the vehicle speed, the accelerator pedal opening, the brake pedal opening, and the driver-required third torque at the preset time;

[0030] The driver demand third torque is determined based on the braking energy recovery torque request flag state, the driver demand third basic torque, the braking energy recovery torque, the driver demand third basic torque, the wheel side allowed first torque and the wheel side allowed second torque.

[0031] In one embodiment, the step of determining the driver's required third basic torque based on the driver's required second torque, the driving mode, the vehicle speed, the accelerator pedal opening, the brake pedal opening, and the driver's required third torque at the preset time includes:

[0032] determining a driver demand torque filter first coefficient mapping table, a driver demand torque filter second coefficient mapping table, and a driver demand torque filter third coefficient mapping table based on the driving mode;

[0033] Determine a driver demand torque increase filtering first coefficient and a driver demand torque decrease filtering first coefficient from the driver demand torque filtering first coefficient mapping table based on the driver demand second torque and the preset moment driver demand third torque;

[0034] determining a driver demand torque increase filtering second coefficient and a driver demand torque decrease filtering second coefficient from the driver demand torque filtering second coefficient mapping table based on the vehicle speed and the accelerator pedal opening;

[0035] determining a driver demand torque reduction filter third coefficient from the driver demand torque filter third coefficient mapping table based on the brake pedal opening;

[0036] A driver demand third base torque is determined based on the driver demand torque increase filter first coefficient, the driver demand torque decrease filter first coefficient, the driver demand torque increase filter second coefficient, the driver demand torque decrease filter second coefficient, and the driver demand torque decrease filter third coefficient.

[0037] In one embodiment, the motor torque control information includes an axle torque target distribution ratio, an axle-allowed first torque, and an axle-allowed second torque, wherein the axle-allowed first torque is greater than the axle-allowed second torque, and the gearbox parameter information includes an axle gearbox speed ratio;

[0038] The step of determining the motor required torque based on the target driver required torque, the motor torque control information and the gearbox parameter information comprises:

[0039] determining a motor basic required torque based on the axle torque target distribution ratio, the axle gearbox speed ratio, and the target driver required torque;

[0040] The motor request torque is determined based on the motor base request torque, the axle allowed first torque, and the axle allowed second torque.

[0041] In addition, to achieve the above-mentioned purpose, the present application also proposes a motor demand torque determination device, the motor demand torque determination device comprising:

[0042] The vehicle information collection module is used to collect driving input information, environmental parameter information, mode setting information, required torque control information, flag status information, motor torque control information and gearbox parameter information;

[0043] a first torque determination module, configured to determine a target driver demand torque based on the driving input information, the environmental parameter information, the mode setting information, the demand torque control information, and the flag status information;

[0044] The second torque determination module is used to determine the motor demand torque based on the target driver demand torque, the motor torque control information and the gearbox parameter information.

[0045] In addition, to achieve the above-mentioned purpose, the present application also proposes a motor required torque determination device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the motor required torque determination method as described above.

[0046] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the method for determining the motor required torque as described above are implemented.

[0047] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the method for determining the motor required torque as described above are implemented.

[0048] One or more technical solutions proposed in this application have at least the following technical effects:

[0049] By collecting driving input information, environmental parameter information, mode setting information, demand torque control information, flag status information, motor torque control information and transmission parameter information, the target driver demand torque is determined based on the driving input information, environmental parameter information, mode setting information, demand torque control information and the flag status information, and the motor demand torque is determined based on the target driver demand torque, the motor torque control information and the transmission parameter information. A variety of vehicle operation information such as driving input information, environmental parameter information, mode setting information, demand torque control information, flag status information, motor torque control information and transmission parameter information are combined, and the power requirements of the four-wheel drive electric vehicle under various operating conditions are fully considered. In the process of determining the motor demand torque, accurate power distribution is achieved, thereby improving the dynamic performance of the four-wheel drive electric vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] 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.

[0051] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0052] Figure 1 A schematic diagram of a flow chart provided for Embodiment 1 of the method for determining the motor required torque of the present application;

[0053] Figure 2 A schematic diagram of a flow chart provided for Embodiment 2 of the method for determining the required torque of a motor of the present application;

[0054] Figure 3 A schematic diagram of a brief flow chart of a method for determining a motor required torque provided in Embodiment 2 of the present application;

[0055] Figure 4 This is a schematic diagram of the module structure of a device for determining motor required torque according to an embodiment of the present application;

[0056] Figure 5 Schematic diagram of the device structure of the hardware operating environment involved in the method for determining the motor required torque in the embodiment of the present application.

[0057] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0058] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0059] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0060] It should be noted that the execution subject of this embodiment may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a motor demand torque control device, etc. The following takes the motor demand torque control device as an example to illustrate this embodiment and the following embodiments.

[0061] Based on this, the embodiment of the present application provides a method for determining the required torque of a motor, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the method for determining the motor required torque of the present application.

[0062] In this embodiment, the method for determining the motor required torque includes steps S10 to S40:

[0063] Step S10, collecting driving input information, environmental parameter information, mode setting information, required torque control information, flag status information, motor torque control information and gearbox parameter information;

[0064] It should be noted that the method for determining the motor required torque proposed in this application is aimed at four-wheel drive electric vehicles, which usually have two or more drive motors distributed on the front and rear axles.

[0065] It should be understood that the driving input information may specifically be operational information reflecting the driver's operating intention, such as vehicle speed, accelerator pedal opening, and brake pedal opening; the environmental parameter information may specifically be vehicle external condition information, such as slope and ambient temperature; the mode setting information may specifically be vehicle current settings and mode selection information, such as gear position, driving mode, and coasting energy recovery intensity; the required torque control information may specifically be torque control parameter information affecting the driver's required torque output, such as adaptive cruise required torque, preset vehicle speed limit torque, brake energy recovery torque, chassis torque reduction torque, and chassis torque increase torque; the motor torque control information may specifically be torque control parameter information affecting the motor torque output, such as axle torque target distribution ratio and axle allowable torque; the gearbox parameter information may specifically be the gear ratio of the gearbox.

[0066] Step S20, determining a target driver demand torque based on the driving input information, the environmental parameter information, the mode setting information, the demand torque control information and the flag status information;

[0067] It should be understood that the target driver demand torque refers to the driver's power demand determined by the motor demand torque control device in the VCU (Vehicle Control Unit) during the driver's operation of the vehicle based on the collected vehicle operating status information such as driving input information, environmental parameter information, mode setting information, demand torque control information and flag status information.

[0068] In a feasible implementation manner, the driving input information includes vehicle speed, accelerator pedal opening and brake pedal opening, the environmental parameter information includes slope, and the mode setting information includes gear position, coasting energy recovery intensity and driving mode; step S20 may include steps S21 to S25:

[0069] Step S21, determining a driver-required throttle torque mapping table and a driver-required creep torque mapping table based on the gear position, the coasting energy recovery intensity and the driving mode;

[0070] It should be noted that the gears are specifically divided into D gear and R gear, where D gear represents driving gear and R gear represents reverse gear. The coasting energy recovery intensity refers to the efficiency and intensity of energy recovery when the electric vehicle is coasting or decelerating. It is divided into three gears: strong, medium and weak. The driver can choose the most appropriate energy recovery intensity in the IVI (In-Vehicle Infotainment) settings according to his or her driving style and current driving conditions. The driving mode can be specifically divided into Normal mode, ECO mode, Sport mode, snow mode, mud mode, rock mode, sand mode and wading mode.

[0071] It should be understood that, according to the three factors of gear position, coasting energy recovery intensity and driving mode, each permutation and combination respectively corresponds to a different driver demand throttle torque mapping table, and the driver demand throttle torque can be determined based on the driver demand throttle torque mapping table. According to the two factors of gear position and driving mode, each permutation and combination respectively corresponds to a different driver demand creep torque mapping table, and the driver demand creep torque can be queried based on the driver demand creep torque mapping table.

[0072] Step S22, determining the driver required throttle torque from the driver required throttle torque mapping table based on the vehicle speed and the throttle pedal opening;

[0073] It should be understood that the driver demand throttle torque mapping table corresponds to a mapping relationship between vehicle speed and driver demand throttle torque, and the unique corresponding driver demand throttle torque can be determined in the driver demand throttle torque mapping table according to the vehicle speed. For example, as shown in Table 1, Table 1 is a driver demand throttle torque mapping table corresponding to a certain arrangement and combination of gear position, coasting energy recovery intensity and driving mode.

[0074] Table 1

[0075]

[0076]

[0077] Step S23, determining the driver required creep torque based on the vehicle speed, the slope, the brake pedal opening and the driver required creep torque mapping table;

[0078] It should be understood that the driver-demanded creep torque mapping table specifically includes three mapping tables, which respectively correspond to the mapping relationship between vehicle speed, slope and brake pedal opening and different driver-demand creep torque related calculation parameters, namely, the mapping relationship between vehicle speed and driver-demand creep first torque, slope and driver-demand creep second torque, and brake pedal opening and creep torque correction coefficient. According to the vehicle speed, slope and brake pedal opening, the unique corresponding driver-demand creep first torque, driver-demand creep second torque and creep torque correction coefficient can be determined in the three mapping tables respectively, thereby calculating the driver-demand creep torque.

[0079] In a feasible implementation manner, the driver demand creep torque mapping table includes a driver demand creep first torque mapping table, a driver demand creep second torque mapping table and a creep torque correction coefficient mapping table; step S23 may include steps A11 to A14:

[0080] Step A11, determining a driver required creep first torque from the driver required creep first torque mapping table based on the vehicle speed;

[0081] For example, as shown in Table 2, Table 2 is a driver demand creep first torque mapping table corresponding to a certain combination of gear position and driving mode. According to the vehicle speed, the unique corresponding driver demand creep first torque can be determined from the driver demand creep first torque mapping table.

[0082] Table 2

[0083]

[0084] Step A12, determining a driver required creep second torque from the driver required creep second torque mapping table based on the slope;

[0085] For example, as shown in Table 3, Table 3 is a driver demand creep second torque mapping table corresponding to a certain combination of gear position and driving mode. According to the slope, the unique corresponding driver demand creep second torque can be determined from the driver demand creep second torque mapping table.

[0086] Table 3

[0087]

[0088] Step A13, determining a creep torque correction coefficient from the creep torque correction coefficient mapping table based on the brake pedal opening;

[0089] For example, as shown in Table 4, Table 4 is a driver demand creep second torque mapping table corresponding to a certain combination of gear position and driving mode. According to the brake pedal opening, a unique corresponding creep torque correction coefficient can be determined from the creep torque correction coefficient mapping table.

[0090] Table 4

[0091]

[0092] Step A14, determining the driver demand creep torque based on the driver demand creep first torque, the driver demand creep second torque and the creep torque correction coefficient.

[0093] It should be noted that the final driver-required creep torque can be calculated based on the driver-required creep first torque, the driver-required creep second torque and the creep torque correction coefficient. The specific calculation method is:

[0094] Driver demand creep torque=(driver demand creep first torque+driver demand creep second torque)*creep torque correction coefficient.

[0095] Step S24, determining a driver-required first torque based on the driver-required throttle torque and the driver-required creep torque;

[0096] It should be noted that the first torque required by the driver can be calculated based on the throttle torque required by the driver and the creep torque required by the driver. The specific calculation method is:

[0097] The driver's first torque=the driver's accelerator torque+the driver's creep torque.

[0098] Step S25 , determining a target driver demand torque based on the driver demand first torque, the driving input information, the mode setting information, the demand torque control information and the flag status information.

[0099] It should be understood that after obtaining the driver's required first torque, the driver's required second torque, the driver's required third torque and the driver's required fourth torque can be further calculated in combination with the driver's required first torque, driving input information, mode setting information, required torque control information and flag status information to determine the final target driver's required torque.

[0100] In a feasible implementation manner, the required torque control information includes an adaptive cruise required torque, a preset speed limit torque, a wheel-side allowed first torque, a wheel-side allowed second torque, a braking energy recovery torque, a preset moment driver required third torque, a chassis torque reduction torque, and a chassis torque increase torque, wherein the wheel-side allowed first torque is greater than the wheel-side allowed second torque, and the flag status information includes an adaptive cruise flag status, a braking energy recovery torque request flag status, a chassis torque increase request flag status, and a chassis torque reduction request flag status; step S25 may include steps A21 to A23:

[0101] Step A21, determining the driver's required second torque based on the driver's required first torque, the adaptive cruise flag state, the adaptive cruise required torque, the preset vehicle speed limit torque, the wheel side allowed first torque and the wheel side allowed second torque;

[0102] It should be noted that the adaptive cruise flag state specifically refers to the state of the chassis control adaptive cruise function on flag, which is used to indicate the on state of the adaptive cruise control function in the vehicle chassis control system, including two states: set and reset. The adaptive cruise demand torque specifically refers to the chassis control adaptive cruise demand torque, which is used to adjust to the corresponding speed when the adaptive cruise control function is turned on to maintain a safe distance from the vehicle in front.

[0103] In addition, it should be noted that the preset speed limit torque specifically refers to the maximum speed limit torque, which is used to ensure that the vehicle does not exceed the safety torque value when the driving speed approaches the maximum limit, so as to prevent excessive torque from causing the electric vehicle to lose control or wear. The first torque allowed by the wheel side specifically refers to the maximum allowable torque of the wheel side, which is used to ensure that during driving, the wheel side will not be excessively worn or damaged due to exceeding its maximum allowable torque; the second torque allowed by the wheel side specifically refers to the minimum allowable torque of the wheel side, which is used to prevent the wheel side from being unable to effectively drive or control the vehicle due to too low torque, so as to maintain the stability and driving force of the vehicle.

[0104] It should be understood that when the chassis control adaptive cruise function on flag is in place, the driver's required second torque can be determined based on the chassis control adaptive cruise required torque, the maximum vehicle speed limit torque, the maximum allowable wheel torque and the minimum allowable wheel torque. The specific calculation method is:

[0105] The driver's required second torque = max{min{chassis control adaptive cruise required torque, wheel-side maximum allowable torque, maximum vehicle speed limit torque}, wheel-side minimum allowable torque}.

[0106] In addition, it should be understood that when the chassis control adaptive cruise function on flag is reset, the driver's demand second torque can be determined based on the driver's demand first torque, the maximum speed limit torque, the maximum allowable wheel torque, and the minimum allowable wheel torque. The specific calculation method is:

[0107] The driver's required second torque=max{min{driver's required first torque, maximum allowable torque at the wheel side, maximum vehicle speed limit torque}, minimum allowable torque at the wheel side}.

[0108] Step A22, determining the driver's demand third torque based on the driver's demand second torque, the driving mode, the vehicle speed, the accelerator pedal opening, the brake pedal opening, the wheel-side allowed first torque, the wheel-side allowed second torque, the braking energy recovery torque request flag state, the braking energy recovery torque, and the driver's demand third torque at the preset time;

[0109] It should be noted that the state of the braking energy recovery torque request flag specifically refers to the state of the IBC (Integrated Brake Control) braking energy recovery torque request flag, which is used to indicate whether the braking energy recovery system is needed to recover the energy during braking, and includes two states: set and reset. The braking energy recovery torque specifically refers to the IBC braking energy recovery torque, which is used to convert the corresponding amount of kinetic energy generated during braking into electrical energy when requesting the braking energy recovery torque, and store it in the battery to improve energy efficiency.

[0110] In addition, it should be noted that the third torque required by the driver at the preset moment specifically refers to the third torque required by the driver at the previous calculation moment. When the electric vehicle is powered on, the third torque required by the driver will be initialized to obtain a default value as the third torque required by the driver at the first calculation moment.

[0111] In a feasible implementation, step A22 may include steps B11 to B12:

[0112] Step B11, determining a driver-required third basic torque based on the driver-required second torque, the driving mode, the vehicle speed, the accelerator pedal opening, the brake pedal opening, and the driver-required third torque at the preset time;

[0113] It should be noted that when the second torque required by the driver suddenly changes, the driver's demand torque increase rate and the driver's demand torque decrease rate can be determined based on the sudden change of the second torque required by the driver, the driving mode, the vehicle speed, the accelerator pedal opening, the brake pedal opening and the third torque required by the driver at the previous calculation time. The driver's demand torque increase rate or the driver's demand torque decrease rate can be calculated within a preset time step to obtain the driver's demand third basic torque.

[0114] In a feasible implementation, step B11 may include steps C11 to C15:

[0115] Step C11, determining a driver demand torque filter first coefficient mapping table, a driver demand torque filter second coefficient mapping table, and a driver demand torque filter third coefficient mapping table based on the driving mode;

[0116] It should be noted that different driving modes correspond to different driver demand torque filter first coefficient mapping tables, driver demand torque filter second coefficient mapping tables and driver demand torque filter third coefficient mapping tables.

[0117] Step C12, determining a driver demand torque increase filtering first coefficient and a driver demand torque decrease filtering first coefficient from the driver demand torque filtering first coefficient mapping table based on the driver demand second torque and the driver demand third torque at the preset moment;

[0118] It should be understood that the mapping relationship between the third torque and the second torque required by the driver at the previous calculation moment and the first coefficient of the driver required torque increase filter and the first coefficient of the driver required torque decrease filter corresponds to the mapping table of the first coefficient of the driver required torque filter. According to the third torque and the second torque required by the driver at the previous calculation moment, the unique corresponding first coefficient of the driver required torque increase filter and the first coefficient of the driver required torque decrease filter can be determined in the first coefficient of the driver required torque filter mapping table. The first coefficient of the driver required torque filter mapping table includes a mapping table of the first coefficient of the driver required torque increase filter and a mapping table of the first coefficient of the driver required torque decrease filter. For example, as shown in Table 5 and Table 6, Table 5 and Table 6 are respectively a mapping table of the first coefficient of the driver required torque increase filter and a mapping table of the first coefficient of the driver required torque decrease filter corresponding to a certain driving mode.

[0119] Table 5

[0120]

[0121] Table 6

[0122]

[0123] Step C13, determining a driver demand torque increase filtering second coefficient and a driver demand torque decrease filtering second coefficient from the driver demand torque filtering second coefficient mapping table based on the vehicle speed and the accelerator pedal opening;

[0124] It should be understood that the mapping relationship between the vehicle speed and the accelerator pedal and the driver demand torque increase filter second coefficient and the driver demand torque decrease filter second coefficient in the driver demand torque filter second coefficient mapping table corresponds to the vehicle speed and the accelerator pedal opening. The unique corresponding driver demand torque increase filter second coefficient and the driver demand torque decrease filter second coefficient can be determined in the driver demand torque filter second coefficient mapping table according to the vehicle speed and the accelerator pedal opening. The driver demand torque filter second coefficient mapping table includes a driver demand torque increase filter second coefficient mapping table and a driver demand torque decrease filter second coefficient mapping table. For example, as shown in Table 7 and Table 8, Table 7 and Table 8 are respectively a driver demand torque increase filter second coefficient mapping table and a driver demand torque decrease filter second coefficient mapping table corresponding to a certain driving mode.

[0125] Table 7

[0126]

[0127] Table 8

[0128]

[0129] Step C14, determining a driver demand torque reduction filter third coefficient from the driver demand torque filter third coefficient mapping table based on the brake pedal opening;

[0130] It should be understood that the mapping relationship between the brake pedal opening and the driver demand torque reduction filter third coefficient corresponds to the driver demand torque filter third coefficient mapping table, and the unique corresponding driver demand torque reduction filter second coefficient can be determined in the driver demand torque filter third coefficient mapping table according to the brake pedal opening. The driver demand torque filter third coefficient mapping table includes a driver demand torque reduction filter third coefficient mapping table. Exemplarily, as shown in Table 9, Table 9 is a driver demand torque reduction filter third coefficient mapping table corresponding to a certain driving mode.

[0131] Table 9

[0132]

[0133] Step C15, determining a driver demand third basic torque based on the driver demand torque increase filter first coefficient, the driver demand torque decrease filter first coefficient, the driver demand torque increase filter second coefficient, the driver demand torque decrease filter second coefficient and the driver demand torque decrease filter third coefficient.

[0134] It should be noted that the driver demand torque increase rate and the driver demand torque decrease rate can be calculated according to the driver demand torque increase filter first coefficient, the driver demand torque decrease filter first coefficient, the driver demand torque increase filter second coefficient, the driver demand torque decrease filter second coefficient and the driver demand torque decrease filter third coefficient. The specific calculation method is:

[0135] Driver demand torque increase rate = driver demand torque increase filter first coefficient * driver demand torque increase filter second coefficient;

[0136] Driver demand torque reduction rate=driver demand torque reduction filter first coefficient*driver demand torque reduction filter second coefficient*driver demand torque reduction filter third coefficient.

[0137] In addition, it should be noted that when the second torque required by the driver changes suddenly, the third basic torque required by the driver will be output in the process that the second torque required by the driver before the change changes slowly at the driver required torque increase rate or the driver required torque decrease rate to the second torque required by the driver after the change. The driver required torque increase rate or the driver required torque decrease rate can be calculated according to the driver required torque increase rate or the driver required torque decrease rate within the preset time step to obtain the third basic torque required by the driver. Specifically, assuming that the second torque required by the driver increases by 20NM, the calculated driver required torque increase rate is 20NM / s, and the preset time step is 0.1s, then the driver required torque increase within the preset time step is 2NM, and the third basic torque required by the driver output after each preset time step increases by 2NM on the basis of the second torque required by the driver before the change.

[0138] This embodiment filters the second driver-demand torque according to the driver-demand torque increase rate and the driver-demand torque decrease rate to calculate the driver-demand third basic torque, smoothes the sudden change of the driver-demand torque, improves the vehicle's control stability and driving comfort, and prevents instantaneous drastic response from affecting driving experience and safety.

[0139] Step B12, determining the driver's required third torque based on the braking energy recovery torque request flag state, the driver's required third basic torque, the braking energy recovery torque, the driver's required third basic torque, the wheel-side allowed first torque and the wheel-side allowed second torque.

[0140] It should be understood that when the IBC braking energy recovery torque request flag is set, the driver's required third torque can be determined based on the IBC braking energy recovery torque, the driver's required third basic torque, the maximum allowable wheel torque and the minimum allowable wheel torque. The specific calculation method is:

[0141] The driver's demanded third torque=max{min{(driver's demanded third basic torque+IBC braking energy recovery torque, wheel-side maximum allowable torque}, wheel-side minimum allowable torque}.

[0142] In addition, it should be understood that when the IBC braking energy recovery torque request flag is reset, the driver's required third torque can be determined based on the driver's required third basic torque, the maximum allowable wheel torque and the minimum allowable wheel torque. The specific calculation method is:

[0143] The driver's demanded third torque=max{min{driver's demanded third basic torque, maximum allowable wheel-side torque}, minimum allowable wheel-side torque}.

[0144] Step A23, determining the driver demanded fourth torque based on the driver demanded third torque, the chassis torque reduction request flag state, the chassis torque increase request flag state, the chassis torque reduction torque and the chassis torque increase torque, and taking the driver demanded fourth torque as the target driver demand torque.

[0145] It should be noted that the chassis torque reduction request flag state is used to indicate whether to reduce the torque, which includes two states: set and reset; the chassis torque increase request flag state is used to indicate whether to increase the torque, which includes two states: set and reset. The chassis torque reduction torque is used to reduce the corresponding torque output of the drive wheel when requesting a torque reduction; the chassis torque increase torque is used to increase the corresponding torque output of the drive wheel when requesting a torque increase. By accurately controlling the torque output of the drive wheel, the four-wheel drive electric vehicle can better adapt to different driving conditions and reduce safety hazards caused by tire slippage.

[0146] It should be understood that when the chassis torque reduction request flag is set, the fourth torque required by the driver can be determined based on the chassis torque reduction torque and the third torque required by the driver. The specific calculation method is:

[0147] Driving demand fourth torque = min {chassis torque reduction, driver demand third torque};

[0148] When the chassis torque increase request flag is set, the fourth torque required by the driver can be determined based on the chassis torque increase torque and the third torque required by the driver. The specific calculation method is:

[0149] Driving demand fourth torque = max {chassis torque increase, driver demand third torque};

[0150] When the chassis torque reduction request flag or the chassis torque increase request flag is not set, the fourth driving torque required is:

[0151] The driver demand fourth torque=the driver demand third torque.

[0152] Additionally, it should be understood that the obtained driving demand fourth torque is the target driver demand torque.

[0153] Step S30 , determining the motor required torque based on the target driver required torque, the motor torque control information and the gearbox parameter information.

[0154] It should be understood that for a four-wheel drive electric vehicle, the motor demand torque includes the front axle motor demand torque and the rear axle motor demand torque. The front axle motor demand torque and the rear axle motor demand torque determined according to the target driver demand torque, motor torque control information and gearbox parameter information comprehensively consider the driver's intention and motor torque control parameters. After the motor demand torque control device determines the motor demand torque according to the control strategy, the VCU will pass the motor demand torque information to the MCU (Motor Control Unit) so that the motor of the four-wheel drive electric vehicle can work normally as expected.

[0155] The present embodiment provides a method for determining a motor demand torque, which collects driving input information, environmental parameter information, mode setting information, demand torque control information, flag status information, motor torque control information and transmission parameter information, determines a target driver demand torque based on the driving input information, environmental parameter information, mode setting information, demand torque control information and the flag status information, determines the motor demand torque based on the target driver demand torque, the motor torque control information and the transmission parameter information, combines a variety of vehicle operation information such as driving input information, environmental parameter information, mode setting information, demand torque control information, flag status information, motor torque control information and transmission parameter information, comprehensively considers the power requirements of a four-wheel drive electric vehicle under a variety of operating conditions, achieves accurate power distribution in the process of determining the motor demand torque, and improves the dynamic performance of the four-wheel drive electric vehicle.

[0156] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 2 , the motor torque control information includes the axle torque target distribution ratio, the axle allowed first torque and the axle allowed second torque, wherein the axle allowed first torque is greater than the axle allowed second torque, and the gearbox parameter information includes the axle gearbox speed ratio; step S30 also includes steps S31-S32:

[0157] Step S31, determining a basic required torque of the motor based on the target axle torque distribution ratio, the axle gearbox speed ratio and the target driver required torque;

[0158] It should be understood that for a four-wheel drive electric vehicle, the axle torque target allocation ratio may be a front axle target torque standard allocation ratio or a rear axle target torque standard allocation ratio, and the sum of the front axle target torque standard allocation ratio and the rear axle target torque standard allocation ratio is 1. The axle gearbox speed ratio includes the front axle gearbox speed ratio and the rear axle gearbox speed ratio. The motor basic required torque includes the front axle motor basic required torque and the rear axle motor basic required torque.

[0159] In addition, it should be understood that the axle torque target distribution ratio refers to the ratio of the torque output by the motor to be distributed between the front axle and the rear axle of the vehicle according to the driving conditions and performance requirements of the vehicle. The gearbox ratio refers to the ratio between the engine output speed and the wheel speed, which is used to describe the transmission ratio of different gears of the gearbox.

[0160] It should be noted that the basic required torque of the front axle motor and the basic required torque of the rear axle motor can be calculated according to the front axle target torque distribution ratio, the fourth torque required by the driver, the front axle gearbox speed ratio, and the rear axle gearbox speed ratio. The specific calculation method is:

[0161] The basic required torque of the front axle motor = the front axle torque target distribution ratio * the fourth torque required by the driver / the front axle gearbox ratio;

[0162] The basic required torque of the rear axle motor = (1-the target torque distribution ratio of the front axle) * the fourth torque required by the driver / the speed ratio of the rear axle gearbox.

[0163] Step S32 : determining the motor required torque based on the motor basic required torque, the axle allowed first torque, and the axle allowed second torque.

[0164] It should be understood that the first allowable torque of the axle specifically refers to the maximum allowable torque of the axle, which is the maximum torque value that the axle can withstand under safe operating conditions, and the maximum allowable torque of the axle includes the maximum allowable torque of the front axle and the maximum allowable torque of the rear axle; the first allowable torque of the axle specifically refers to the minimum allowable torque of the axle, which is the minimum torque value that the axle needs to withstand while ensuring that the vehicle has basic driving capabilities, and the minimum allowable torque of the axle includes the minimum allowable torque of the front axle and the maximum allowable torque of the rear axle.

[0165] In addition, it should be understood that the front axle motor required torque refers to the torque that the front axle motor of the four-wheel drive electric vehicle should provide to ensure that the front axle motor can provide sufficient torque to support the front wheel drive of the vehicle. The rear axle motor required torque refers to the torque that the rear axle motor of the four-wheel drive electric vehicle should provide to ensure that the rear axle motor can provide sufficient torque to support the rear wheel drive of the vehicle.

[0166] It should be noted that the required torque of the front axle motor and the required torque of the rear axle motor can be calculated based on the basic required torque of the front axle motor, the maximum allowable torque of the front axle, the minimum allowable torque of the front axle, the basic required torque of the rear axle motor, the maximum allowable torque of the rear axle and the minimum allowable torque of the rear axle. The specific calculation method is:

[0167] Front axle motor required torque = max{min{front axle motor basic required torque, front axle maximum allowable torque}, front axle minimum allowable torque};

[0168] Rear axle motor required torque = max{min{rear axle motor basic required torque, rear axle maximum allowable torque}, rear axle minimum allowable torque}.

[0169] For example, in order to help understand the implementation process of the motor required torque determination method obtained by combining this embodiment with the above-mentioned embodiment 1, please refer to Figure 3 , Figure 3 A brief flow chart of a method for determining a motor required torque is provided, specifically:

[0170] After obtaining the vehicle operation information, the driver's required first torque is calculated according to the vehicle gear, speed, accelerator pedal opening, IVI set coasting energy recovery intensity, driving mode, slope, and brake pedal opening signal; the driver's required second torque is calculated according to the maximum speed limit torque, chassis control adaptive cruise function opening flag, chassis control adaptive cruise required torque, wheel-side maximum allowable torque, wheel-side minimum allowable torque signal, and the driver's required first torque calculated by the previous module; the driver's required third torque is calculated according to the IBC brake energy recovery torque request flag, IBC brake energy recovery torque, driving mode, the driver's required third torque at the previous calculation moment, vehicle speed, accelerator pedal opening, brake The third torque required by the driver is calculated based on the pedal opening, the maximum allowable torque of the wheel side, the minimum allowable torque of the wheel side, and the second torque signal required by the driver calculated by the preceding module; the fourth torque required by the driver is calculated based on the chassis torque reduction request flag, the chassis torque increase request flag, the chassis torque reduction torque, the chassis torque increase torque, and the third torque required by the driver calculated by the preceding module; finally, the front axle torque target distribution ratio, the front axle maximum allowable torque, the front axle minimum allowable torque, the rear axle maximum allowable torque, the rear axle minimum allowable torque, the front axle gearbox speed ratio, the rear axle gearbox speed ratio, and the fourth torque required by the driver calculated by the preceding module, the front axle motor required torque and the rear axle motor required torque are calculated.

[0171] This embodiment allocates the required torque of the corresponding front axle and rear axle motors to the four-wheel drive electric vehicle according to different vehicle operating conditions, so as to achieve the best driving performance and efficiency.

[0172] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the method for determining the required torque of the motor of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0173] The present application also provides a motor required torque determination device, please refer to Figure 4 , the motor required torque determination device comprises:

[0174] The vehicle information collection module 10 is used to collect driving input information, environmental parameter information, mode setting information, required torque control information, flag status information, motor torque control information and gearbox parameter information;

[0175] a first torque determination module 20, configured to determine a target driver demand torque based on the driving input information, the environmental parameter information, the mode setting information, the demand torque control information and the flag status information;

[0176] The second torque determination module 30 is configured to determine the motor demand torque based on the target driver demand torque, the motor torque control information and the gearbox parameter information.

[0177] The motor demand torque determination device provided by the present application adopts the motor demand torque determination method in the above embodiment, which can solve the technical problem of how to achieve accurate power distribution in the process of determining the motor demand torque. Compared with the prior art, the beneficial effects of the motor demand torque determination device provided by the present application are the same as the beneficial effects of the motor demand torque determination method provided by the above embodiment, and other technical features in the motor demand torque determination device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0178] The present application provides a motor demand torque determination device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the motor demand torque determination method in the above-mentioned embodiment one.

[0179] Reference below Figure 5 , which shows a schematic diagram of the structure of a motor demand torque determination device suitable for implementing the embodiment of the present application. The motor demand torque determination device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 5 The motor required torque determination device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0180] like Figure 5As shown, the motor demand torque determination device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the motor demand torque determination device are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the motor demand torque determination device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a motor demand torque determination device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0181] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0182] The motor demand torque determination device provided by the present application adopts the motor demand torque determination method in the above embodiment, which can solve the technical problem of how to achieve accurate power distribution in the process of determining the motor demand torque. Compared with the prior art, the beneficial effects of the motor demand torque determination device provided by the present application are the same as the beneficial effects of the motor demand torque determination method provided by the above embodiment, and other technical features in the motor demand torque determination device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0183] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0184] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0185] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the motor required torque determination method in the above-mentioned embodiment.

[0186] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0187] The computer-readable storage medium may be included in the motor required torque determination device; or may exist independently without being assembled into the motor required torque determination device.

[0188] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the motor demand torque determination device, the motor demand torque determination device: collects driving input information, environmental parameter information, mode setting information, demand torque control information, flag status information, motor torque control information and transmission parameter information; determines the target driver demand torque based on the driving input information, the environmental parameter information, the mode setting information, the demand torque control information and the flag status information; determines the motor demand torque based on the target driver demand torque, the motor torque control information and the transmission parameter information.

[0189] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0190] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0191] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0192] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned motor demand torque determination method, and can solve the technical problem of how to achieve accurate power distribution in the process of motor demand torque determination. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the motor demand torque determination method provided in the above-mentioned embodiment, and will not be repeated here.

[0193] The present application also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the steps of the method for determining the motor required torque as described above are implemented.

[0194] The computer program product provided by the present application can solve the technical problem of how to achieve accurate power distribution in the process of determining the motor required torque. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the motor required torque determination method provided by the above embodiment, which will not be repeated here.

[0195] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for determining a motor required torque, characterized in that: The method for determining the motor required torque comprises: Collect driving input information, environmental parameter information, mode setting information, required torque control information, flag status information, motor torque control information and transmission parameter information; determining a target driver demand torque based on the driving input information, the environmental parameter information, the mode setting information, the demand torque control information, and the flag status information; A motor demand torque is determined based on the target driver demand torque, the motor torque control information, and the transmission parameter information.

2. The method according to claim 1, characterized in that The driving input information includes vehicle speed, accelerator pedal opening and brake pedal opening, the environmental parameter information includes slope, and the mode setting information includes gear position, coasting energy recovery intensity and driving mode; The step of determining the target driver demand torque based on the driving input information, the environmental parameter information, the mode setting information, the demand torque control information and the flag status information comprises: determining a driver-demand throttle torque mapping table and a driver-demand creep torque mapping table based on the gear position, the coasting energy recovery intensity, and the driving mode; determining a driver required throttle torque from the driver required throttle torque mapping table based on the vehicle speed and the throttle pedal opening; determining a driver demand creep torque based on the vehicle speed, the slope, the brake pedal opening, and the driver demand creep torque mapping table; determining a driver-required first torque based on the driver-required throttle torque and the driver-required creep torque; A target driver demand torque is determined based on the driver demand first torque, the driving input information, the mode setting information, the demand torque control information, and the flag status information.

3. The method according to claim 2, characterized in that The driver demand creep torque mapping table includes a driver demand creep first torque mapping table, a driver demand creep second torque mapping table and a creep torque correction coefficient mapping table; The step of determining the driver required creep torque based on the vehicle speed, the slope, the brake pedal opening and the driver required creep torque mapping table comprises: determining a driver demand creep first torque from the driver demand creep first torque mapping table based on the vehicle speed; determining a driver demand creep second torque from the driver demand creep second torque mapping table based on the slope; determining a creep torque correction coefficient from the creep torque correction coefficient mapping table based on the brake pedal opening; A driver requested creep torque is determined based on the driver requested creep first torque, the driver requested creep second torque, and the creep torque correction coefficient.

4. The method according to claim 2, characterized in that The required torque control information includes an adaptive cruise required torque, a preset speed limit torque, a wheel-side allowed first torque, a wheel-side allowed second torque, a braking energy recovery torque, a preset moment driver required third torque, a chassis torque reduction torque, and a chassis torque increase torque, wherein the wheel-side allowed first torque is greater than the wheel-side allowed second torque, and the flag status information includes an adaptive cruise flag status, a braking energy recovery torque request flag status, a chassis torque increase request flag status, and a chassis torque reduction request flag status; The step of determining the target driver demand torque based on the driver demand first torque, the driving input information, the mode setting information, the demand torque control information and the flag status information comprises: Determining a driver demand second torque based on the driver demand first torque, the adaptive cruise flag state, the adaptive cruise demand torque, the preset vehicle speed limit torque, the wheel side allowed first torque, and the wheel side allowed second torque; Determine the driver demand third torque based on the driver demand second torque, the driving mode, the vehicle speed, the accelerator pedal opening, the brake pedal opening, the wheel side allowed first torque, the wheel side allowed second torque, the braking energy recovery torque request flag state, the braking energy recovery torque and the driver demand third torque at the preset time; A driver demand fourth torque is determined based on the driver demand third torque, the chassis torque reduction request flag state, the chassis torque increase request flag state, the chassis torque reduction torque and the chassis torque increase torque, and the driver demand fourth torque is used as the target driver demand torque.

5. The method according to claim 4, characterized in that The step of determining the driver's required third torque based on the driver's required second torque, the driving mode, the vehicle speed, the accelerator pedal opening, the brake pedal opening, the wheel-side allowed first torque, the wheel-side allowed second torque, the braking energy recovery torque request flag state, the braking energy recovery torque and the driver's required third torque at the preset time includes: Determining a driver-required third basic torque based on the driver-required second torque, the driving mode, the vehicle speed, the accelerator pedal opening, the brake pedal opening, and the driver-required third torque at the preset time; The driver demand third torque is determined based on the braking energy recovery torque request flag state, the driver demand third basic torque, the braking energy recovery torque, the driver demand third basic torque, the wheel side allowed first torque and the wheel side allowed second torque.

6. The method according to claim 5, characterized in that The step of determining the driver's demand third basic torque based on the driver's demand second torque, the driving mode, the vehicle speed, the accelerator pedal opening, the brake pedal opening, and the driver's demand third torque at the preset time includes: determining a driver demand torque filter first coefficient mapping table, a driver demand torque filter second coefficient mapping table, and a driver demand torque filter third coefficient mapping table based on the driving mode; Determine a driver demand torque increase filtering first coefficient and a driver demand torque decrease filtering first coefficient from the driver demand torque filtering first coefficient mapping table based on the driver demand second torque and the preset moment driver demand third torque; determining a driver demand torque increase filtering second coefficient and a driver demand torque decrease filtering second coefficient from the driver demand torque filtering second coefficient mapping table based on the vehicle speed and the accelerator pedal opening; determining a driver demand torque reduction filter third coefficient from the driver demand torque filter third coefficient mapping table based on the brake pedal opening; A driver demand third base torque is determined based on the driver demand torque increase filter first coefficient, the driver demand torque decrease filter first coefficient, the driver demand torque increase filter second coefficient, the driver demand torque decrease filter second coefficient, and the driver demand torque decrease filter third coefficient.

7. The method according to any one of claims 1 to 6, characterized in that The motor torque control information includes an axle torque target distribution ratio, an axle-allowed first torque, and an axle-allowed second torque, wherein the axle-allowed first torque is greater than the axle-allowed second torque, and the gearbox parameter information includes an axle gearbox speed ratio; The step of determining the motor required torque based on the target driver required torque, the motor torque control information and the gearbox parameter information comprises: determining a motor basic required torque based on the axle torque target distribution ratio, the axle gearbox speed ratio, and the target driver required torque; The motor request torque is determined based on the motor base request torque, the axle allowed first torque, and the axle allowed second torque.

8. A device for determining motor required torque, characterized in that: The device comprises: A vehicle information collection module is used to collect driving input information, environmental parameter information, mode setting information, required torque control information, flag status information, motor torque control information, and gearbox parameter information; a first torque determination module, configured to determine a target driver demand torque based on the driving input information, the environmental parameter information, the mode setting information, the demand torque control information, and the flag status information; The second torque determination module is used to determine the motor demand torque based on the target driver demand torque, the motor torque control information and the gearbox parameter information.

9. A device for determining motor required torque, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the motor required torque determination method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the method for determining the required torque of a motor according to any one of claims 1 to 7 are implemented.

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