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

Abstract

The application discloses a motor demand torque determination method, device and equipment and a storage medium, relates to the technical field of vehicle control, and discloses a motor demand torque determination method, which comprises the following steps: collecting driving input information, environment parameter information, mode setting information, demand torque control information, flag state information, motor torque control information and gearbox parameter information; determining target driver demand torque based on the driving input information, the environment parameter information, the mode setting information, the demand torque control information and the flag state information; and determining motor demand torque based on the target driver demand torque, the motor torque control information and the gearbox parameter information. The power demand of a four-wheel drive electric vehicle under various operating conditions is comprehensively considered, accurate power distribution is realized in the process of determining the motor demand torque, and the dynamic performance of the four-wheel drive electric vehicle is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, in particular to a motor demand torque determination method and device, equipment and storage medium. BACKGROUND

[0002] Electric vehicles have the advantages of energy saving, high efficiency, low emission or zero emission, low noise, fast acceleration, low use cost, etc. The market of electric vehicles is becoming larger and larger, and various host manufacturers have begun to develop electric vehicles. Compared with two-wheel drive vehicles, four-wheel drive vehicles can more autonomously allocate 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 distributed on the front axle and the rear axle. The front and rear motor demand torque is usually calculated in the vehicle control unit, and then the demand value is sent to the motor control unit to control the actual output torque of the front and rear motors through the motor control unit to ensure that the front and rear motors can work normally. However, the existing scheme considers a relatively simple operating condition when determining the motor demand torque, and cannot perform accurate power distribution.

[0004] The above content is only used to assist in understanding the technical solutions of the present application and does not represent the acknowledgement of the above content as prior art. SUMMARY

[0005] The main purpose of the present application is to provide a motor demand torque determination method, device, equipment and storage medium, aiming at solving the technical problem of how to realize accurate power distribution in the process of determining motor demand torque.

[0006] To achieve the above purpose, the present application provides a motor demand torque determination method, which comprises:

[0007] Collecting driving input information, environmental parameter information, mode setting information, demand torque control information, flag state information, motor torque control information and gearbox parameter information;

[0008] 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 state information;

[0009] Determining the motor demand torque based on the target driver demand torque, the motor torque control information and the gearbox parameter information.

[0010] In an embodiment, the driving input information includes vehicle speed, accelerator pedal opening degree and brake pedal opening degree, the environmental parameter information includes slope, and the mode setting information includes gear, sliding energy recovery intensity and driving mode.

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

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

[0013] determining a driver demand throttle torque from the driver demand throttle torque map based on the vehicle speed and the accelerator pedal opening degree;

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

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

[0016] 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 state information.

[0017] In an embodiment, the driver demand creep torque map comprises a driver demand creep first torque map, a driver demand creep second torque map, and a creep torque correction coefficient map;

[0018] The step of determining the driver demand creep torque based on the vehicle speed, the slope, the brake pedal opening degree, and the driver demand creep torque map comprises:

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

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

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

[0022] 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.

[0023] In an embodiment, the demand torque control information comprises an adaptive cruise demand torque, a preset vehicle speed limit torque, a wheel side allowable first torque, a wheel side allowable second torque, a brake energy recovery torque, a preset time driver demand third torque, a chassis lowering torque, and a chassis raising torque, wherein the wheel side allowable first torque is greater than the wheel side allowable second torque, and the flag state information comprises an adaptive cruise flag state, a brake energy recovery torque request flag state, a chassis raising request flag state, and a chassis lowering request flag state.

[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 state 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 allowable first torque, and the wheel side allowable second torque;

[0026] determining a 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 allowable first torque, the wheel side allowable second torque, the brake energy recovery torque request flag state, the brake energy recovery torque, and the preset time driver demand third torque;

[0027] determining a driver demand fourth torque based on the driver demand third torque, the chassis lowering request flag state, the chassis raising request flag state, the chassis lowering torque, and the chassis raising torque, and taking the driver demand fourth torque as the target driver demand torque.

[0028] In an embodiment, the step of determining 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 allowable first torque, the wheel side allowable second torque, the brake energy recovery torque request flag state, the brake energy recovery torque, and the preset time driver demand third torque comprises:

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

[0030] determining the driver demand third torque based on the driver demand second torque, the driver demand third torque at the preset time, the driving mode, the vehicle speed, the accelerator pedal opening, the brake pedal opening, and the brake energy recovery torque request flag.

[0031] In an embodiment, the step of determining the driver demand third basic torque based on the driver demand second torque, the driver demand third torque at the preset time, the driving mode, the vehicle speed, the accelerator pedal opening, and the brake pedal opening, comprises:

[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] determining a driver demand torque increase filter first coefficient and a driver demand torque decrease filter first coefficient from the driver demand torque filter first coefficient mapping table based on the driver demand second torque and the driver demand third torque at the preset time;

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

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

[0036] determining the 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.

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

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

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

[0040] Determine the motor demand torque based on the basic demand torque of the motor, the first allowable torque of the axle and the second allowable torque of the axle.

[0041] In addition, to achieve the above object, the application further provides a motor demand torque determination device, which comprises:

[0042] A vehicle information collection module is configured to collect driving input information, environmental parameter information, mode setting information, demand torque control information, flag state information, motor torque control information and gearbox parameter information.

[0043] A torque first determination module is 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 state information.

[0044] A torque second determination module is configured to determine a 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 object, the application further provides a motor demand torque determination device, which comprises 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 demand torque determination method as described above.

[0046] In addition, to achieve the above object, the application further provides a storage medium, which is a computer readable storage medium, and the storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of the motor demand torque determination method as described above.

[0047] In addition, to achieve the above object, the application further provides a computer program product, which comprises a computer program, and the computer program is executed by a processor to implement the steps of the motor demand torque determination method as described above.

[0048] The one or more technical solutions provided by the application have at least the following technical effects:

[0049] The driving input information, the environment parameter information, the mode setting information, the demand torque control information, the flag state information, the motor torque control information and the gearbox parameter information are collected, the target driver demand torque is determined based on the driving input information, the environment parameter information, the mode setting information, the demand torque control information and the flag state information, and the motor demand torque is determined based on the target driver demand torque, the motor torque control information and the gearbox parameter information. The motor demand torque is determined by combining various vehicle operation information such as the driving input information, the environment parameter information, the mode setting information, the demand torque control information, the flag state information, the motor torque control information and the gearbox parameter information, comprehensively considering the power demand of the four-wheel drive electric vehicle under various operation conditions, and realizing accurate power distribution in the process of determining the motor demand torque, thereby improving the dynamic performance of the four-wheel drive electric vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0050] The accompanying drawings, which are incorporated herein and form a part of the specification, illustrate embodiments consistent with the present application and, together with the description, further serve to explain the principles of the application.

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, those skilled in the art can obtain other drawings according to these drawings without any creative effort.

[0052] Figure 1 A flowchart provided for the motor demand torque determination method embodiment one of the present application;

[0053] Figure 2 A flowchart provided for the motor demand torque determination method embodiment two of the present application;

[0054] Figure 3 A brief flowchart of the motor demand torque determination method provided for the embodiment two of the present application;

[0055] Figure 4 A module structure diagram of the motor demand torque determination device of the embodiment of the present application;

[0056] Figure 5 A device structure diagram of the hardware operation environment involved in the motor demand torque determination method in the embodiment of the present application.

[0057] The object implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

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

[0059] In order to better understand the technical solutions of the present application, the following will be described in detail in combination with the accompanying drawings and specific embodiments.

[0060] It should be noted that the execution subject of the present embodiment can 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 present embodiment and the following embodiments will be described taking the motor demand torque control device as an example.

[0061] Based on this, the present embodiment provides a motor demand torque determination method, which refers to Figure 1 , Figure 1 The flowchart of the first embodiment of the motor demand torque determination method of the present application.

[0062] In the present embodiment, the motor demand torque determination method comprises steps S10-S40:

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

[0064] It should be noted that the motor demand torque determination method proposed by the present application is for four-wheel drive electric vehicles, which usually have two or more drive motors distributed in the front axle and the rear axle.

[0065] It should be understood that the driving input information can be specific to the operation information reflecting the driver's operation intention, such as vehicle speed, accelerator pedal opening degree and brake pedal opening degree; the environmental parameter information can be specific to the external condition information of the vehicle, such as slope and environmental temperature; the mode setting information can be specific to the current setting and mode selection information of the vehicle, such as gear, driving mode and sliding energy recovery intensity; the demand torque control information can be specific to the torque control parameter information affecting the driver's demand torque output, such as adaptive cruise demand torque, preset speed limit torque, brake energy recovery torque, chassis reduction torque and chassis increase torque; the motor torque control information can be specific to the torque control parameter information affecting the motor torque output, such as axle torque target distribution ratio and axle allowable torque; and the gearbox parameter information can be specific to 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 state information;

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

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

[0069] Step S21, determining a driver demand throttle torque map and a driver demand creep torque map based on the gear, the energy recovery intensity in coasting and the driving mode;

[0070] It should be noted that the gear is specifically divided into D (drive) and R (reverse), the energy recovery intensity in coasting refers to the efficiency and intensity of energy recovery when the electric vehicle is coasting or decelerating, which is divided into three levels of strong, medium and weak, and the driver can select the most suitable energy recovery intensity in the IVI (In-Vehicle Infotainment) setting according to his driving style and current driving conditions. The driving mode can be specifically divided into Normal (ordinary) mode, ECO (economy) mode, Sport (sport) mode, snow mode, mud mode, rock mode, sand mode and water mode.

[0071] It should be understood that each permutation and combination of the gear, the energy recovery intensity in coasting and the driving mode corresponds to a different driver demand throttle torque map, and the driver demand throttle torque can be determined based on the driver demand throttle torque map. Each permutation and combination of the gear and the driving mode corresponds to a different driver demand creep torque map, and the driver demand creep torque can be queried based on the driver demand creep torque map.

[0072] Step S22, determining the driver demand throttle torque from the driver demand throttle torque map based on the vehicle speed and the accelerator pedal opening degree;

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

[0074] Table 1

[0075]

[0076] Step S23, determining the driver demand crawling torque based on the vehicle speed, the slope, the brake pedal opening degree, and the driver demand crawling torque map table;

[0077] It should be understood that the driver demand crawling torque map table specifically includes three map tables, which respectively correspond to the mapping relationship between vehicle speed, slope, and brake pedal opening degree and different driver demand crawling torque related calculation parameters, i.e., the mapping relationship between vehicle speed and driver demand crawling first torque, the mapping relationship between slope and driver demand crawling second torque, and the mapping relationship between brake pedal opening degree and crawling torque correction coefficient. A unique corresponding driver demand crawling first torque, driver demand crawling second torque, and crawling torque correction coefficient can be respectively determined in the three map tables according to the vehicle speed, slope, and brake pedal opening degree, so as to calculate the driver demand crawling torque.

[0078] In a feasible implementation, the driver demand crawling torque map table includes a driver demand crawling first torque map table, a driver demand crawling second torque map table, and a crawling torque correction coefficient map table; and step S23 can include steps A11-A14.

[0079] Step A11, determining the driver demand crawling first torque from the driver demand crawling first torque map table based on the vehicle speed;

[0080] Exemplarily, as shown in Table 2, Table 2 is a driver demand crawling first torque map table corresponding to some arrangement combinations of gear and driving mode. A unique corresponding driver demand crawling first torque can be determined in the driver demand crawling first torque map table according to the vehicle speed.

[0081] Table 2

[0082]

[0083] Step A12, determining the driver demand crawling second torque from the driver demand crawling second torque map table based on the slope;

[0084] Exemplarily, as shown in Table 3, Table 3 is a driver demand second creep torque mapping table corresponding to some permutation and combination of gear and driving mode. According to the slope, a uniquely corresponding driver demand second creep torque can be determined from the driver demand second creep torque mapping table.

[0085] Table 3

[0086]

[0087] Step A13, determining a creep torque correction coefficient from the creep torque correction coefficient mapping table based on the brake pedal opening degree;

[0088] Exemplarily, as shown in Table 4, Table 4 is a driver demand second creep torque mapping table corresponding to some permutation and combination of gear and driving mode. According to the brake pedal opening degree, a uniquely corresponding creep torque correction coefficient can be determined from the creep torque correction coefficient mapping table.

[0089] Table 4

[0090]

[0091] Step A14, determining a driver demand creep torque based on the driver demand first creep torque, the driver demand second creep torque and the creep torque correction coefficient.

[0092] It should be noted that the final driver demand creep torque can be calculated according to the driver demand first creep torque, the driver demand second creep torque and the creep torque correction coefficient. The specific calculation method is:

[0093] Driver demand creep torque = (driver demand first creep torque + driver demand second creep torque) * creep torque correction coefficient.

[0094] Step S24, determining a driver demand first torque based on the driver demand throttle torque and the driver demand creep torque;

[0095] It should be noted that the driver demand first torque can be calculated according to the driver demand throttle torque and the driver demand creep torque. The specific calculation method is:

[0096] Driver demand first torque = driver demand throttle torque + driver demand creep torque.

[0097] 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 state information.

[0098] It should be understood that after the driver demand first torque is obtained, the driver demand second torque, the driver demand third torque and the driver demand fourth torque can be further calculated in combination with the driver demand first torque, the driving input information, the mode setting information, the demand torque control information and the flag state information, so as to determine the final target driver demand torque.

[0099] In a feasible implementation, the demand torque control information includes an adaptive cruise demand torque, a preset vehicle speed limit torque, a wheel side allowable first torque, a wheel side allowable second torque, a brake energy recovery torque, a preset time driver demand third torque, a chassis lowering torque and a chassis lifting torque, wherein the wheel side allowable first torque is greater than the wheel side allowable second torque, and the flag state information includes an adaptive cruise flag state, a brake energy recovery torque request flag state, a chassis lifting torque request flag state and a chassis lowering torque request flag state; step S25 can include steps A21-A23.

[0100] Step A21, determining the 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 allowable first torque and the wheel side allowable second torque.

[0101] It should be noted that the adaptive cruise flag state specifically refers to the state of the chassis control adaptive cruise function opening flag, which is used to indicate the opening state of the adaptive cruise control function in the vehicle chassis control system, and includes two states of setting and resetting. The adaptive cruise demand torque specifically refers to the chassis control adaptive cruise demand torque, which is used to adjust to the corresponding speed to maintain a safe distance from the vehicle in front when the adaptive cruise control function is opened.

[0102] In addition, it should be noted that the preset vehicle speed limit torque specifically refers to the maximum vehicle speed limit torque, which is used to ensure that the vehicle does not exceed the safe torque value when the driving speed approaches the maximum limit, so as to avoid excessive torque leading to loss of control or wear of the electric vehicle. The wheel side allowable first torque specifically refers to the wheel side maximum allowable torque, which is used to ensure that the wheel side does not overwear or damage due to exceeding its maximum allowable torque during driving; the wheel side allowable second torque specifically refers to the wheel side minimum allowable torque, which is used to avoid the wheel side 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.

[0103] It should be understood that when the chassis control adaptive cruise function opening flag is set, the driver demand second torque can be determined based on the chassis control adaptive cruise demand torque, the maximum vehicle speed limit torque, the wheel side maximum allowable torque and the wheel side minimum allowable torque. The specific calculation method is:

[0104] Driver demand second torque = max{min{chassis control adaptive cruise control demand torque, wheel maximum allowable torque, highest speed limit torque}, wheel minimum allowable torque}.

[0105] Additionally, it should be understood that when the chassis control adaptive cruise control function opening flag is reset, the driver demand second torque can be determined based on the driver demand first torque, the highest speed limit torque, the wheel maximum allowable torque, and the wheel minimum allowable torque. The specific calculation method is:

[0106] Driver demand second torque = max{min{driver demand first torque, wheel maximum allowable torque, highest speed limit torque}, wheel minimum allowable torque}.

[0107] Step A22, determining a 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 allowable first torque, the wheel allowable second torque, the brake energy recovery torque request flag state, the brake energy recovery torque, and the preset time driver demand third torque;

[0108] It should be noted that the brake energy recovery torque request flag state specifically refers to the state of the IBC (Integrated Brake Control) brake energy recovery torque request flag, which is used to indicate whether the energy in the braking process needs to be recovered through the brake energy recovery system, and includes two states of setting and resetting. The brake energy recovery torque specifically refers to the IBC brake energy recovery torque, which is used to convert the corresponding size kinetic energy generated in the braking process into electrical energy and store it in the battery to improve energy efficiency when requesting the brake energy recovery torque.

[0109] Additionally, it should be noted that the preset time driver demand third torque specifically refers to the driver demand third torque at the previous calculation time. When the electric vehicle is powered on, the driver demand third torque will be initialized to obtain a default value as the driver demand third torque at the first calculation time.

[0110] In a possible implementation, step A22 can include steps B11-B12:

[0111] Step B11, determining a driver demand third basic torque based on the driver demand second torque, the driving mode, the vehicle speed, the accelerator pedal opening, the brake pedal opening, and the preset time driver demand third torque;

[0112] It should be noted that when the driver demand second torque has a sudden change, the driver demand torque increase rate and the driver demand torque decrease rate can be determined based on the sudden changed driver demand second torque, the driving mode, the vehicle speed, the accelerator pedal opening, the brake pedal opening and the driver demand third torque at the previous calculation time. The driver demand increase torque or the driver demand decrease torque within a preset time step can be calculated according to the driver demand torque increase rate or the driver demand torque decrease rate, and the driver demand third basic torque is obtained.

[0113] In an available embodiment, the step B11 can include steps C11-C15.

[0114] 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;

[0115] 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.

[0116] Step C12, determining a driver demand torque increase filter first coefficient and a driver demand torque decrease filter first coefficient from the driver demand torque filter first coefficient mapping table based on the driver demand second torque and the driver demand third torque at the preset time;

[0117] It should be understood that the driver demand torque filter first coefficient mapping table has a mapping relationship between the driver demand third torque at the previous calculation time and the driver demand second torque and the driver demand torque increase filter first coefficient and the driver demand torque decrease filter first coefficient, and the driver demand torque increase filter first coefficient and the driver demand torque decrease filter first coefficient corresponding to the driver demand third torque at the previous calculation time and the driver demand second torque can be determined in the driver demand torque filter first coefficient mapping table. The driver demand torque filter first coefficient mapping table includes a driver demand torque increase filter first coefficient mapping table and a driver demand torque decrease filter first coefficient mapping table. For example, as shown in Table 5 and Table 6, Table 5 and Table 6 are respectively a driver demand torque increase filter first coefficient mapping table and a driver demand torque decrease filter first coefficient mapping table corresponding to a certain driving mode.

[0118] Table 5

[0119]

[0120] Table 6

[0121]

[0122] Step C13, determining a driver demand torque increase filter second coefficient and a driver demand torque decrease filter second coefficient from the driver demand torque filter second coefficient map based on the vehicle speed and the accelerator pedal opening;

[0123] It should be understood that the driver demand torque filter second coefficient map has a mapping relationship between the vehicle speed and the accelerator pedal opening and the driver demand torque increase filter second coefficient and the driver demand torque decrease filter second coefficient, and according to the vehicle speed and the accelerator pedal opening, a unique corresponding driver demand torque increase filter second coefficient and a driver demand torque decrease filter second coefficient can be determined in the driver demand torque filter second coefficient map. The driver demand torque filter second coefficient map includes a driver demand torque increase filter second coefficient map and a driver demand torque decrease filter second coefficient map. Exemplarily, as shown in Table 7 and Table 8, Table 7 and Table 8 are respectively a driver demand torque increase filter second coefficient map and a driver demand torque decrease filter second coefficient map corresponding to a certain driving mode.

[0124] Table 7

[0125]

[0126] Table 8

[0127]

[0128] Step C14, determining a driver demand torque decrease filter third coefficient from the driver demand torque filter third coefficient map based on the brake pedal opening;

[0129] It should be understood that the driver demand torque filter third coefficient map has a mapping relationship between the brake pedal opening and the driver demand torque decrease filter third coefficient, and according to the brake pedal opening, a unique corresponding driver demand torque decrease filter second coefficient can be determined in the driver demand torque filter third coefficient map. The driver demand torque filter third coefficient map includes a driver demand torque decrease filter third coefficient map. Exemplarily, as shown in Table 9, Table 9 is a driver demand torque decrease filter third coefficient map corresponding to a certain driving mode.

[0130] Table 9

[0131]

[0132] Step C15, determining a third basic driver demand torque based on the first driver demand torque increase filter coefficient, the first driver demand torque decrease filter coefficient, the second driver demand torque increase filter coefficient, the second driver demand torque decrease filter coefficient and the third driver demand torque decrease filter coefficient.

[0133] It should be noted that the driver demand torque increase rate and the driver demand torque decrease rate can be calculated based on the first driver demand torque increase filter coefficient, the first driver demand torque decrease filter coefficient, the second driver demand torque increase filter coefficient, the second driver demand torque decrease filter coefficient and the third driver demand torque decrease filter coefficient. The specific calculation method is as follows:

[0134] Driver demand torque increase rate = first driver demand torque increase filter coefficient * second driver demand torque increase filter coefficient;

[0135] Driver demand torque decrease rate = first driver demand torque decrease filter coefficient * second driver demand torque decrease filter coefficient * third driver demand torque decrease filter coefficient.

[0136] In addition, it should be noted that when the second driver demand torque changes suddenly, the third basic driver demand torque is output during the process of slowly changing the second driver demand torque before the change to the second driver demand torque after the change at the driver demand torque increase rate or the driver demand torque decrease rate. The driver demand increase torque or the driver demand decrease torque within a preset time step can be calculated based on the driver demand torque increase rate or the driver demand torque decrease rate, and the third basic driver demand torque is obtained. Specifically, assuming that the second driver demand torque increases by 20 NM, the calculated driver demand torque increase rate is 20 NM / s, and the preset time step is 0.1 s, then the driver demand increase torque within the preset time step is 2 NM, and the third basic driver demand torque output after each preset time step increases the second driver demand torque before the change by 2 NM.

[0137] The present embodiment calculates the third basic driver demand torque by filtering the second driver demand torque based on the driver demand torque increase rate and the driver demand torque decrease rate, smooths the sudden change of the driver demand torque, and improves the control stability and driving comfort of the vehicle, so as to avoid the influence of instantaneous sharp response on driving experience and safety.

[0138] Step B12, determining the driver demand third torque based on the status of the brake energy recovery torque request flag, the driver demand third basic torque, the brake energy recovery torque, the driver demand third basic torque, the wheel side allowable first torque and the wheel side allowable second torque.

[0139] It should be understood that when the IBC brake energy recovery torque request flag is set, the driver demand third torque can be determined based on the IBC brake energy recovery torque, the driver demand third basic torque, the wheel side maximum allowable torque and the wheel side minimum allowable torque. The specific calculation method is as follows:

[0140] Driver demand third torque = max{min{driver demand third basic torque + IBC brake energy recovery torque, wheel side maximum allowable torque}, wheel side minimum allowable torque}.

[0141] In addition, it should be understood that when the IBC brake energy recovery torque request flag is reset, the driver demand third torque can be determined based on the driver demand third basic torque, the wheel side maximum allowable torque and the wheel side minimum allowable torque. The specific calculation method is as follows:

[0142] Driver demand third torque = max{min{driver demand third basic torque, wheel side maximum allowable torque}, wheel side minimum allowable torque}.

[0143] Step A23, determining the driver demand fourth torque based on the driver demand third torque, the status of the chassis torque down request flag, the status of the chassis torque up request flag, the chassis torque down torque and the chassis torque up torque, and taking the driver demand fourth torque as the target driver demand torque.

[0144] It should be noted that the status of the chassis torque down request flag is used to indicate whether to reduce the torque, which includes two states of setting and resetting; the status of the chassis torque up request flag is used to indicate whether to increase the torque, which includes two states of setting and resetting. The chassis torque down torque is used to reduce the corresponding size torque output of the drive wheel when requesting to reduce the torque; the chassis torque up torque is used to increase the corresponding size torque output of the drive wheel when requesting to increase the torque. 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 the safety hazards caused by tire slip.

[0145] It should be understood that when the chassis torque down request flag is set, the driver demand fourth torque can be determined based on the chassis torque down torque and the driver demand third torque. The specific calculation method is as follows:

[0146] Driver demand fourth torque = min{chassis torque down torque, driver demand third torque};

[0147] When the chassis torque-up request flag is set, the driver demand fourth torque can be determined based on the chassis torque-up torque and the driver demand third torque. The specific calculation method is as follows:

[0148] Driver demand fourth torque = max{chassis torque-up torque, driver demand third torque};

[0149] When neither the chassis torque-up request flag nor the chassis torque-down request flag is set, the driver demand fourth torque is:

[0150] Driver demand fourth torque = driver demand third torque.

[0151] In addition, it should be understood that the obtained driver demand fourth torque is the target driver demand torque.

[0152] Step S30, determining the motor demand torque based on the target driver demand torque, the motor torque control information, and the gearbox parameter information.

[0153] It should be understood that for a four-wheel electric vehicle, the motor demand torque includes a front axle motor demand torque and a 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, the motor torque control information, and the gearbox parameter information comprehensively consider the driver's intention and the motor torque control parameters. After the motor demand torque control device determines the motor demand torque according to the control strategy, the VCU transmits the motor demand torque information to the MCU (Motor Control Unit), so that the motor of the four-wheel electric vehicle works as expected.

[0154] The embodiment provides a motor demand torque determination method, which collects driving input information, environmental parameter information, mode setting information, demand torque control information, flag state information, motor torque control information, and gearbox parameter information, determines 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 state information, and determines a motor demand torque based on the target driver demand torque, the motor torque control information, and the gearbox parameter information. The motor demand torque determination method combines various vehicle operating information such as driving input information, environmental parameter information, mode setting information, demand torque control information, flag state information, motor torque control information, and gearbox parameter information, comprehensively considers the power demand of the four-wheel electric vehicle under various operating conditions, realizes accurate power distribution in the process of determining the motor demand torque, and improves the dynamic performance of the four-wheel electric vehicle.

[0155] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as the above-mentioned embodiment one can refer to the above introduction, and the subsequent will not be described in detail. On this basis, please refer to Figure 2 , the motor torque control information includes axle torque target distribution ratio, axle allowed first torque and axle allowed second torque, wherein the axle allowed first torque is greater than the axle allowed second torque, the gearbox parameter information includes axle gearbox speed ratio; step S30 further includes steps S31-S32:

[0156] Step S31, determining the motor basic demand torque based on the axle torque target distribution ratio, the axle gearbox speed ratio and the target driver demand torque;

[0157] It should be understood that for four-wheel electric vehicles, the axle torque target distribution ratio can be the front axle target torque target distribution ratio or the rear axle target torque target distribution ratio, and the sum of the front axle target torque target distribution ratio and the rear axle target torque target distribution 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 demand torque includes the front axle motor basic demand torque and the rear axle motor basic demand torque.

[0158] In addition, it should be understood that the axle torque target distribution ratio refers to the proportion of the torque output by the motor between the front axle and the rear axle of the vehicle according to the driving conditions and performance requirements of the vehicle. The gearbox speed 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.

[0159] It should be noted that the front axle motor basic demand torque and the rear axle motor basic demand torque can be calculated according to the front axle target torque target distribution ratio, the driver demand fourth torque, the front axle gearbox speed ratio and the rear axle gearbox speed ratio. The specific calculation method is:

[0160] Front axle motor basic demand torque = front axle torque target distribution ratio * driver demand fourth torque / front axle gearbox speed ratio;

[0161] Rear axle motor basic demand torque = (1 - front axle target torque target distribution ratio) * driver demand fourth torque / rear axle gearbox speed ratio.

[0162] Step S32, determining the motor demand torque based on the motor basic demand torque, the axle allowed first torque and the axle allowed second torque.

[0163] 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 the condition of safe operation, 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 to ensure that the vehicle has basic driving capability, 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.

[0164] In addition, it should be understood that the front axle motor demand 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 demand 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.

[0165] It should be noted that according to the front axle motor basic demand torque, the front axle maximum allowable torque, the front axle minimum allowable torque, the rear axle motor basic demand torque, the rear axle maximum allowable torque and the rear axle minimum allowable torque, the front axle motor demand torque and the rear axle motor demand torque can be calculated. The specific calculation method is:

[0166] The front axle motor demand torque = max{min{front axle motor basic demand torque, front axle maximum allowable torque}, front axle minimum allowable torque};

[0167] The rear axle motor demand torque = max{min{rear axle motor basic demand torque, rear axle maximum allowable torque}, rear axle minimum allowable torque}.

[0168] For the purpose of facilitating understanding of the implementation process of the motor demand torque determination method obtained by the above-mentioned embodiment one, an example is provided. Please refer to Figure 3 , Figure 3 A brief flowchart of a motor demand torque determination method is provided, specifically:

[0169] After obtaining the whole vehicle running information, the driver demand first torque is calculated according to the vehicle gear, vehicle speed, accelerator pedal opening, IVI setting coasting energy recovery strength, driving mode, slope, brake pedal opening signal; the driver demand second torque is calculated according to the highest vehicle speed limit torque, chassis control adaptive cruise function opening flag, chassis control adaptive cruise demand torque, wheel edge maximum allowable torque, wheel edge minimum allowable torque signal, and the driver demand first torque calculated by the previous module; the driver demand third torque is calculated according to the IBC braking energy recovery torque request flag, IBC braking energy recovery torque, driving mode, driver demand third torque at the previous calculation time, vehicle speed, accelerator pedal opening, brake pedal opening, wheel edge maximum allowable torque, wheel edge minimum allowable torque, and the driver demand second torque signal calculated by the previous module; the driver demand fourth torque is calculated according to the chassis torque reduction request flag, chassis torque increase request flag, chassis torque reduction torque, chassis torque increase torque, and the driver demand third torque calculated by the previous module; finally, the front axle motor demand torque and the rear axle motor demand torque are calculated according to the front axle torque target distribution ratio, front axle maximum allowable torque, front axle minimum allowable torque, rear axle maximum allowable torque, rear axle minimum allowable torque, front axle gearbox speed ratio, rear axle gearbox speed ratio, and the driver demand fourth torque calculated by the previous module.

[0170] The embodiment can assign corresponding front axle and rear axle motor demand torques to the four-wheel electric vehicle according to different vehicle running conditions, so that the best driving performance and efficiency can be achieved.

[0171] It should be noted that the above examples are only used for understanding the present application and do not constitute a limitation on the method for determining motor demand torque of the present application. More forms of simple transformation based on this technical concept are within the protection scope of the present application.

[0172] The present application also provides a motor demand torque determination device, which is described in detail in Figure 4 The motor demand torque determination device comprises:

[0173] The vehicle information acquisition module 10 is configured to acquire driving input information, environmental parameter information, mode setting information, demand torque control information, flag state information, motor torque control information, and gearbox parameter information.

[0174] The torque first determination module 20 is 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 state information.

[0175] The torque second determination module 30 is configured to determine a motor demand torque based on the target driver demand torque, the motor torque control information, and the gearbox parameter information.

[0176] The motor demand torque determination device provided by the present application adopts the motor demand torque determination method in the above embodiments, and can solve the technical problem of how to realize accurate power distribution in the process of determining the motor demand torque. Compared with the prior art, the motor demand torque determination device provided by the present application has the same beneficial effects as the motor demand torque determination method provided by the above embodiments, and other technical features in the motor demand torque determination device are the same as the features disclosed in the above embodiments, which will not be repeated here.

[0177] The present application provides a motor demand torque determination device, which comprises at least one processor and a memory connected with the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the motor demand torque determination method in the above embodiment one.

[0178] Reference will be made to the following Figure 5 , which shows a structural schematic diagram of a motor demand torque determination device suitable for being used to implement the embodiments of the present application. The motor demand torque determination device in the embodiments of the present application can include but is not limited to mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (Personal Digital Assistant), PADs (Portable Application Description), PMPs (Portable Media Player), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), and the like, and fixed terminals such as digital TVs, desktop computers, and the like. Figure 5 The motor demand torque determination device shown is only an example, and should not bring any limitation to the functions and use range of the embodiments of the present application.

[0179] As Figure 5As shown, the motor demand torque determination device can include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.) that can perform various appropriate actions and processes according to a program stored in a read only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. Various programs and data required for operation of the motor demand torque determination device are also stored in the RAM 1004. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other by 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), a speaker, a vibrator, etc.; the 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 wirelessly or by wire with other devices to exchange data. Although the motor demand torque determination device is shown as having various systems, it should be understood that all of the shown systems are not required to be implemented or possessed. More or fewer systems can alternatively be implemented or possessed.

[0180] In particular, the processes described above with reference to the flowcharts can be implemented as a computer software program according to embodiments of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising a computer program carried on a computer readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network by a communication device, or installed from the storage device 1003, or installed from the ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the methods of embodiments of the present disclosure are performed.

[0181] The motor demand torque determination device provided by the present disclosure adopts the motor demand torque determination method in the above embodiments, and 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 motor demand torque determination device provided by the present disclosure has the same beneficial effects as the motor demand torque determination method provided by the above embodiments, and other technical features in the motor demand torque determination device are the same as the features disclosed in the previous embodiment method, which will not be repeated here.

[0182] It should be understood that various aspects of the disclosure can be implemented in hardware, software, firmware, or a combination thereof. In the description of the embodiments above, specific features, structures, materials or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0183] The above description is only specific embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0184] The present application provides a computer readable storage medium having stored thereon computer readable program instructions (i.e. computer programs) for performing the motor demand torque determination method in the above embodiments.

[0185] The computer readable storage medium provided by the present application may, for example, be a U disk, but is not limited to an electric, magnetic, optical, electromagnetic, infrared, or semiconductor system, system or device, or any combination thereof. More specific examples of the computer readable storage medium can include, but are not limited to, an electric connection with one or more conductive 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 thereof. In the present embodiment, the computer readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system or device. The program code contained on the computer readable storage medium can be transmitted by any suitable medium, including but not limited to: electric wire, optical cable, RF (Radio Frequency: radio frequency), etc., or any suitable combination thereof.

[0186] The above computer readable storage medium can be included in the motor demand torque determination device; or can exist separately without being assembled into the motor demand torque determination device.

[0187] The computer readable storage medium described above carries one or more programs, when the one or more programs are executed by the motor demand torque determination device, the motor demand torque determination device is caused to: collect driving input information, environment parameter information, mode setting information, demand torque control information, flag state information, motor torque control information, and gearbox parameter information; determine a target driver demand torque based on the driving input information, the environment parameter information, the mode setting information, the demand torque control information, and the flag state information; and determine a motor demand torque based on the target driver demand torque, the motor torque control information, and the gearbox parameter information.

[0188] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can 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 the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0189] The flow diagrams and the block diagrams in the drawings are illustrations of possible architectures, functions, and operations for systems, methods, and computer program products according to various embodiments of the present application. In this regard, each block in the flow diagrams or block diagrams can represent a module, a segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently or the blocks can sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flow diagrams, and combinations thereof, can be implemented by special purpose hardware-based systems that perform the specified functions or operations, or combinations of special purpose hardware and computer instructions.

[0190] The modules described in the embodiments of the present application can be implemented in the form of software or in the form of hardware. In some cases, the name of the module does not constitute a limitation on the module itself.

[0191] The readable storage medium provided by the present application is a computer readable storage medium, which stores computer readable program instructions (i.e., a computer program) for executing the motor demand torque determination method described above, 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 computer readable storage medium provided by the present application has the same beneficial effects as the motor demand torque determination method provided by the above-mentioned embodiments, and will not be repeated here.

[0192] The present application also provides a computer program product comprising a computer program, which, when executed by a processor, implements the steps of the motor demand torque determination method as described above.

[0193] 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 motor demand torque determination. Compared with the prior art, the computer program product provided by the present application has the same beneficial effects as the motor demand torque determination method provided by the above-mentioned embodiments, and will not be repeated here.

[0194] The above only describes some embodiments of the present application, and does not limit the patent scope of the present application. Any equivalent structural transformation made by using the content of the present application specification and drawings, or direct / indirect application in other related technical fields is included in the patent protection scope of the present application.

Claims

1. A method of determining a required torque of an electric motor, characterized by, The motor demand torque determination method comprises: collecting driving input information, environment parameter information, mode setting information, demand torque control information, flag state information, motor torque control information and gearbox parameter information; determining a target driver demand torque based on the driving input information, the environment parameter information, the mode setting information, the demand torque control information and the flag state information; determining a motor demand torque based on the target driver demand torque, the motor torque control information and the gearbox parameter information; the driving input information comprises vehicle speed, accelerator pedal opening degree and brake pedal opening degree, the environment parameter information comprises gradient, and the mode setting information comprises gear, energy recovery intensity in coasting and driving mode; the step of determining the target driver demand torque based on the driving input information, the environment parameter information, the mode setting information, the demand torque control information and the flag state information comprises: determining a driver demand throttle torque mapping table and a driver demand crawling torque mapping table based on the gear, the energy recovery intensity in coasting and the driving mode; determining a driver demand throttle torque from the driver demand throttle torque mapping table based on the vehicle speed and the accelerator pedal opening degree; determining a driver demand crawling torque based on the vehicle speed, the gradient, the brake pedal opening degree and the driver demand crawling torque mapping table; determining a driver demand first torque based on the driver demand throttle torque and the driver demand crawling torque; 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 state information.

2. The method of claim 1, wherein, the driver demand crawling torque mapping table comprises a driver demand crawling first torque mapping table, a driver demand crawling second torque mapping table and a crawling torque correction coefficient mapping table; the step of determining the driver demand crawling torque based on the vehicle speed, the gradient, the brake pedal opening degree and the driver demand crawling torque mapping table comprises: determining a driver demand crawling first torque from the driver demand crawling first torque mapping table based on the vehicle speed; determining a driver demand crawling second torque from the driver demand crawling second torque mapping table based on the gradient; determining a crawling torque correction coefficient from the crawling torque correction coefficient mapping table based on the brake pedal opening degree; determining a driver demand crawling torque based on the driver demand crawling first torque, the driver demand crawling second torque and the crawling torque correction coefficient.

3. The method of claim 1, wherein, The demand torque control information comprises adaptive cruise demand torque, preset vehicle speed limit torque, wheel side allowable first torque, wheel side allowable second torque, brake energy recovery torque, preset time driver demand third torque, chassis lowering torque, and chassis lifting torque, wherein the wheel side allowable first torque is greater than the wheel side allowable second torque, and the flag state information comprises adaptive cruise flag state, brake energy recovery torque request flag state, chassis lifting torque request flag state, and chassis lowering torque request flag state; 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 state 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 allowable first torque, and the wheel side allowable second torque; determining a 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 allowable first torque, the wheel side allowable second torque, the brake energy recovery torque request flag state, the brake energy recovery torque, and the preset time driver demand third torque; determining a driver demand fourth torque based on the driver demand third torque, the chassis lowering torque request flag state, the chassis lifting torque request flag state, the chassis lowering torque, and the chassis lifting torque, and taking the driver demand fourth torque as the target driver demand torque.

4. The method of claim 3, wherein, The step of determining 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 allowable first torque, the wheel side allowable second torque, the brake energy recovery torque request flag state, the brake energy recovery torque, and the preset time driver demand third torque comprises: determining a driver demand third basic torque based on the driver demand second torque, the driving mode, the vehicle speed, the accelerator pedal opening, the brake pedal opening, and the preset time driver demand third torque; determining the driver demand third torque based on the brake energy recovery torque request flag state, the driver demand third basic torque, the brake energy recovery torque, the driver demand third basic torque, the wheel side allowable first torque, and the wheel side allowable second torque.

5. The method of claim 4, wherein, The step of determining the driver demand third basic torque based on the driver demand second torque, the driving mode, the vehicle speed, the accelerator pedal opening, the brake pedal opening, and the preset time driver demand third torque comprises: 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 filter first coefficient and a driver demand torque decrease filter first coefficient from the driver demand torque filter first coefficient mapping table based on the driver demand second torque and the preset time driver demand third torque; determine a driver demand torque increase filter second coefficient and a driver demand torque decrease filter second coefficient from the driver demand torque filter second coefficient mapping table based on the vehicle speed and the accelerator pedal opening degree; determine a driver demand torque decrease filter third coefficient from the driver demand torque filter third coefficient mapping table based on the brake pedal opening degree; determine 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.

6. The method of any one of claims 1 to 5, wherein, The motor torque control information comprises an axle torque target distribution ratio, an axle allowable first torque and an axle allowable second torque, wherein the axle allowable first torque is greater than the axle allowable second torque, and the gearbox parameter information comprises an axle gearbox speed ratio; The step of determining the motor demand torque based on the target driver demand torque, the motor torque control information and the gearbox parameter information comprises: determining a motor basic demand torque based on the axle torque target distribution ratio, the axle gearbox speed ratio and the target driver demand torque; determining the motor demand torque based on the motor basic demand torque, the axle allowable first torque and the axle allowable second torque.

7. A motor demand torque determination device for use in a motor demand torque determination method according to any one of claims 1 to 6, characterized by The device comprises: a vehicle information acquisition module configured to acquire driving input information, environmental parameter information, mode setting information, demand torque control information, flag state information, motor torque control information and gearbox parameter information; a torque first 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 state information; a torque second determination module configured to determine a motor demand torque based on the target driver demand torque, the motor torque control information and the gearbox parameter information.

8. An electric motor required torque determination device characterized by comprising: The device comprises a memory, a processor and a computer program stored on the memory and executable on the processor, and the computer program is configured to implement the steps of the motor demand torque determination method according to any one of claims 1 to 6.

9. A storage medium, characterized by The storage medium is a computer readable storage medium, and the storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of the motor demand torque determination method according to any one of claims 1 to 6.

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