Torque output control method and system of vehicle and vehicle

Abstract

The invention relates to the technical field of vehicle control, in particular to a torque output control method and system of a vehicle and the vehicle. Obtaining state information of the vehicle at the current moment, calculating a current road adhesion coefficient of the vehicle on the road where the vehicle is located at the current moment according to the state information, obtaining a theoretical driving torque slope of the vehicle according to the current road adhesion coefficient, and obtaining a real-time driving torque slope of the vehicle at the current moment; and according to the theoretical driving torque slope and the real-time driving torque slope, the vehicle is controlled to output the corresponding torque slope. In the embodiment, according to the requirement of the current road adhesion coefficient for driving, control is conducted from the slope level of the driving torque, feedforward control is conducted on slipping of the driving wheel when the torque is output, the driving smoothness under various road surfaces is improved, and no other performance loss exists.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle torque output control method, system and vehicle. Background Art

[0002] When pure electric vehicles are driving on low-adhesion roads such as icy and slippery roads, the vehicle's driving torque loading rate is high. When the driver steps on the accelerator to accelerate, the wheel acceleration is large, and the driving wheel is prone to violent slippage. The loss of acceleration will also reduce the steering ability. Front-wheel drive vehicles will experience a head-pushing phenomenon, and rear-wheel drive vehicles will have a greater safety risk of drifting. After the traction anti-skid control system detects wheel slippage, it will perform torque limiting control to effectively reduce safety risks. However, due to the excessively large driving torque slope and the bus signal interaction delay time, the torque and torque are both at a high level when the traction anti-skid control system takes effect. When the wheel speed is reduced to the target level, it will cause a loss of stability and smoothness, as well as obvious impact vibration. Therefore, in the process of controlling the vehicle's torque output, how to improve the vehicle's stability has become an urgent problem to be solved. Summary of the invention

[0003] Based on this, it is necessary to provide a vehicle torque output control method, system and vehicle for the above-mentioned technical problems, so as to solve the problem of poor vehicle stability in the process of controlling the vehicle torque output.

[0004] A first aspect of an embodiment of the present application provides a torque output control method for a vehicle, comprising: Acquiring the current state information of the vehicle, and calculating the current road adhesion coefficient of the vehicle at the current moment according to the state information; Obtaining a theoretical driving torque slope of the vehicle according to the current road adhesion coefficient; The real-time driving torque slope of the vehicle at the current moment is obtained, and the vehicle is controlled to output a corresponding torque according to the theoretical driving torque slope and the real-time driving torque slope.

[0005] A second aspect of an embodiment of the present application provides a torque output control system for a vehicle, the torque output control system comprising a controller and a drive motor, the drive motor being connected to the controller, and the controller being used to execute the torque output control method for the vehicle described in the first aspect above.

[0006] A third aspect of an embodiment of the present application provides a vehicle, comprising the torque output control system of the vehicle described in any one of the second aspects above.

[0007] Compared with the prior art, the present invention has the following beneficial effects: The vehicle status information at the current moment is obtained, and the current road adhesion coefficient of the vehicle on the road at the current moment is calculated according to the status information. The theoretical driving torque slope of the vehicle is obtained according to the current road adhesion coefficient, and the real-time driving torque slope of the vehicle at the current moment is obtained. According to the theoretical driving torque slope and the real-time driving torque slope, the vehicle output corresponding torque slope is controlled. In this embodiment, according to the driving demand of the current road adhesion coefficient, the driving torque slope is controlled from the driving torque slope level, and the driving wheel slip is feed-forward controlled when the torque is output, so as to improve the driving smoothness on various road surfaces without other performance losses. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0009] Figure 1 is a flow chart of a method for controlling torque output of a vehicle provided in Embodiment 1 of the present invention; Figure 2 is a schematic diagram of a mapping relationship between a road adhesion coefficient and a driving torque slope provided in a second embodiment of the present invention; Figure 3 is a structural schematic diagram of a torque output control system for a vehicle provided in Embodiment 3 of the present invention; Figure 4 is a structural diagram of a computer device provided by Embodiment 4 of the present invention; Figure 5 It is a structural schematic diagram of a vehicle provided in Embodiment 5 of the present invention. DETAILED DESCRIPTION

[0010] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0011] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0012] It should also be understood that the term "and / or" used in the present description and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0013] As used in the present specification and the appended claims, the term "if" may be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" may be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]", depending on the context.

[0014] In addition, in the description of the present specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0015] References to "one embodiment" or "some embodiments" etc. described in the present specification mean that one or more embodiments of the present invention include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0016] It should be understood that the order of execution of the steps in the following embodiments does not imply a precedence of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0017] In order to illustrate the technical solution of the present invention, specific embodiments are provided below for illustration.

[0018] See also Figure 1 , is a flow chart of a method for controlling a torque output of a vehicle provided in Embodiment 1 of the present invention, such as Figure 1 As shown, the torque output control method of the vehicle may include the following steps.

[0019] S101: Acquire the status information of the vehicle at the current moment, and calculate the current road adhesion coefficient of the vehicle at the current moment according to the status information.

[0020] In step S101, the state information of the vehicle at the current moment is obtained, wherein the state information of the vehicle is the posture information of the vehicle during driving, which may include the driving torque, braking torque, longitudinal acceleration, lateral acceleration, steering wheel angle, wheel speed and yaw rate of the vehicle. According to the state information, the current road adhesion coefficient of the vehicle at the current moment is calculated, wherein the current road adhesion coefficient is used to characterize the friction between the vehicle tire and the ground at the current moment.

[0021] In this embodiment, the status information of the vehicle at the current moment is obtained, wherein the status information includes the vehicle's driving torque, braking torque, longitudinal acceleration, lateral acceleration, steering wheel angle, wheel speed and yaw angular velocity, that is, the driving torque, braking torque, longitudinal acceleration, lateral acceleration, steering wheel angle, wheel speed and yaw angular velocity of the vehicle during driving are collected through the vehicle's collection function.

[0022] According to the state information, the current road adhesion coefficient of the vehicle at the current moment is calculated. When calculating, the corresponding calculation model can be used for calculation, wherein the calculation model is a trained deep learning model, that is, the vehicle's driving torque, braking torque, longitudinal acceleration, lateral acceleration, steering wheel angle, wheel speed and yaw angular velocity and other parameters are used as inputs of the calculation model, and the calculation model outputs the vehicle's current road adhesion coefficient.

[0023] It should be noted that the vehicle's status information can also be any one or more of the vehicle's driving torque, braking torque, longitudinal acceleration, lateral acceleration, steering wheel angle, wheel speed and yaw rate and other parameters, that is, the input parameters of the calculation model can be any one or more of the vehicle's driving torque, braking torque, longitudinal acceleration, lateral acceleration, steering wheel angle, wheel speed and yaw rate and other parameters, and this embodiment does not limit this.

[0024] S102: Obtaining a theoretical driving torque slope of the vehicle according to the current road adhesion coefficient.

[0025] In step S102, the theoretical driving torque slope of the vehicle is obtained according to the current road adhesion coefficient, wherein the driving torque slope is the change of the driving torque per unit time, and the theoretical driving torque slope of the vehicle is the maximum torque slope that can be maintained under the current road adhesion coefficient when the vehicle maintains stability.

[0026] In this embodiment, there is a corresponding mapping relationship between the adhesion coefficient and the driving torque slope. The theoretical driving torque slope corresponding to the current road adhesion coefficient can be obtained by searching the corresponding mapping relationship.

[0027] In this embodiment, the torque slope of the vehicle is determined according to the corresponding road adhesion coefficient, which can meet the needs of different torque outputs under different road conditions, thereby outputting a torque that keeps the vehicle stable according to different road conditions, thereby improving the driving stability of the vehicle.

[0028] Optionally, according to the current road adhesion coefficient, the theoretical driving torque slope of the vehicle is obtained, including: Obtaining a mapping relationship between a road adhesion coefficient and a driving torque slope; According to the current road adhesion coefficient and the mapping relationship between the road adhesion coefficient and the driving torque slope, the theoretical driving torque slope of the vehicle is obtained.

[0029] In this embodiment, the mapping relationship between the road adhesion coefficient and the driving torque slope is obtained, see Figure 2 , is a schematic diagram of a mapping relationship between a road adhesion coefficient and a driving torque slope provided by the second embodiment of the present invention, such as Figure 2 As shown in the figure, the road adhesion coefficient and the driving slope are positively correlated, that is, as the road adhesion coefficient increases, the driving slope increases until the driving slope remains unchanged. For example, when the road adhesion coefficient is 0.2, the corresponding driving torque slope is 1800Nm / s, when the road adhesion coefficient is 0.8, the corresponding driving torque slope is 10000Nm / s, and when the road adhesion coefficient is 0.9, the corresponding driving torque slope is 10000Nm / s.

[0030] In this embodiment, the theoretical driving torque slope of the vehicle is obtained according to the current road adhesion coefficient and the mapping relationship between the road adhesion coefficient and the driving torque slope.

[0031] S103: Obtaining the real-time driving torque slope of the vehicle at the current moment, and controlling the vehicle to output a corresponding torque according to the theoretical driving torque slope and the real-time driving torque slope.

[0032] In step S103, the real-time driving torque slope of the vehicle at the current moment is obtained, wherein the real-time driving torque slope is the driving torque slope of the actual driving torque output by the vehicle at the current moment. According to the theoretical driving torque slope and the real-time driving torque slope, the vehicle is controlled to output the corresponding torque, that is, one of the driving torque slopes is selected from the theoretical driving torque slope and the real-time driving torque slope to control the vehicle to output the corresponding torque.

[0033] In this embodiment, the real-time driving torque slope of the vehicle at the current moment is obtained, and the real-time driving torque slope is used as a basis for controlling the corresponding torque output by the vehicle to ensure that the output torque can make the vehicle more stable.

[0034] According to the theoretical driving torque slope and the real-time driving torque slope, when the vehicle is controlled to output a corresponding torque, the rate of change of the torque output by the vehicle per unit time can satisfy the corresponding driving torque slope.

[0035] Optionally, obtaining the real-time driving torque slope of the vehicle at the current moment includes: Obtaining a mapping relationship between vehicle driving power and driving torque slope; The real-time driving power of the vehicle at the current moment is obtained, and the real-time driving torque slope of the vehicle is obtained by combining the mapping relationship between the vehicle driving power and the driving torque slope.

[0036] In this embodiment, the vehicle driving power is mapped to the driving torque slope, and the mapping relationship between the vehicle driving power and the driving torque slope is determined, so as to determine the corresponding real-time driving torque slope based on the real-time driving power of the vehicle at the previous moment.

[0037] It should be noted that the real-time driving power of the vehicle at the current moment can be determined according to the input of the accelerator pedal, and different openings of the accelerator pedal correspond to different real-time driving powers. After obtaining the mapping relationship between the vehicle driving power and the driving torque slope, the real-time driving torque slope corresponding to the real-time driving power is obtained according to the real-time driving power.

[0038] Optionally, according to the theoretical driving torque slope and the real-time driving torque slope, controlling the vehicle to output a corresponding torque includes: The smaller driving torque slope between the theoretical driving torque slope and the real-time driving torque slope is taken as the target torque slope; According to the target torque slope, the vehicle is controlled to output a corresponding torque at the target torque slope.

[0039] In this embodiment, when controlling the vehicle to output the corresponding torque based on the theoretical driving torque slope and the real-time driving torque slope, the smaller driving torque slope between the theoretical driving torque slope and the real-time driving torque slope is taken as the target torque slope, and based on the target torque slope, the vehicle is controlled to output the corresponding torque at the target torque slope.

[0040] For example, when the theoretical driving torque slope is smaller than the real-time driving torque slope, that is, the driving torque slope of the vehicle at the current moment is larger, the stability of the vehicle cannot be maintained when the vehicle outputs torque. Therefore, the theoretical driving torque slope is used as the target torque slope, and according to the target torque slope, the vehicle is controlled to output the corresponding torque at the target torque slope.

[0041] It should be noted that when the vehicle is controlled to output the corresponding torque at the target torque slope, the rate of change of the torque per unit time is made equal to the target torque slope to ensure that the vehicle outputs the corresponding torque at a smaller driving torque slope. For example, if the corresponding target torque slope is 4000Nm / s, the vehicle is controlled to output the corresponding torque at 4000Nm / s.

[0042] When the theoretical driving torque slope is greater than the real-time driving torque slope, that is, the driving torque slope of the vehicle at the current moment is smaller, when the vehicle outputs torque, the vehicle can maintain stability without changing the vehicle's output torque. The real-time driving torque slope is used as the target torque slope, and according to the target torque slope, the vehicle is controlled to output the corresponding torque at the target torque slope.

[0043] It should be noted that when the vehicle is controlled to output the corresponding torque at the target torque slope according to the target torque slope, if the vehicle cannot maintain stability, the traction anti-skid control system is used to limit the torque slope, which can effectively reduce safety risks.

[0044] The vehicle status information at the current moment is obtained, and the current road adhesion coefficient of the vehicle on the road at the current moment is calculated according to the status information. The theoretical driving torque slope of the vehicle is obtained according to the current road adhesion coefficient, and the real-time driving torque slope of the vehicle at the current moment is obtained. According to the theoretical driving torque slope and the real-time driving torque slope, the vehicle output corresponding torque slope is controlled. In this embodiment, according to the driving demand of the current road adhesion coefficient, the driving torque slope is controlled from the driving torque slope level, and the driving wheel slip is feed-forward controlled when the torque is output, so as to improve the driving smoothness on various road surfaces without other performance losses.

[0045] See also Figure 3 , is a schematic diagram of a vehicle torque output control system provided by Embodiment 3 of the present invention. For the sake of convenience, only the parts related to the embodiment of the present invention are shown. Figure 3 The vehicle's torque output control system 30 includes a controller 31 and a drive motor 32. The drive motor is connected to the controller, and the controller is used to execute the vehicle's torque output control method.

[0046] It should be noted that after the controller determines the corresponding target torque slope, it sends the target torque slope to the drive motor so that the drive motor can output the torque corresponding to the target torque slope.

[0047] A method for controlling torque output of a vehicle, comprising: Obtaining the current state information of the vehicle, and calculating the current road adhesion coefficient of the vehicle at the current moment according to the state information; According to the current road adhesion coefficient, the theoretical driving torque slope of the vehicle is obtained; The real-time driving torque slope of the vehicle at the current moment is obtained, and the vehicle is controlled to output the corresponding torque according to the theoretical driving torque slope and the real-time driving torque slope.

[0048] According to the current road adhesion coefficient, the theoretical driving torque slope of the vehicle is obtained, including: Obtaining a mapping relationship between a road adhesion coefficient and a driving torque slope; According to the current road adhesion coefficient and the mapping relationship between the road adhesion coefficient and the driving torque slope, the theoretical driving torque slope of the vehicle is obtained.

[0049] Get the real-time driving torque slope of the vehicle at the current moment, including: Obtaining a mapping relationship between vehicle driving power and driving torque slope; The real-time driving power of the vehicle at the current moment is obtained, and the real-time driving torque slope of the vehicle is obtained by combining the mapping relationship between the vehicle driving power and the driving torque slope.

[0050] According to the theoretical driving torque slope and the real-time driving torque slope, the vehicle output corresponding torque is controlled, including: The smaller driving torque slope between the theoretical driving torque slope and the real-time driving torque slope is taken as the target torque slope; According to the target torque slope, the vehicle is controlled to output a corresponding torque at the target torque slope.

[0051] Figure 4 Schematic diagram of the structure of a computer device provided by Embodiment 4 of the present invention. Figure 4 As shown, the computer device of this embodiment includes: at least one processor ( Figure 4 Only one is shown), a memory, and a computer program stored in the memory and executable on at least one processor, wherein when the processor executes the computer program, the steps in any of the above-mentioned embodiments of the torque output control method for each vehicle are implemented. The computer device may include, but is not limited to, a processor and a memory. Those skilled in the art will appreciate that Figure 4 This is merely an example of a computer device and does not constitute a limitation on the computer device. The computer device may include more or fewer components than those shown in the figure, or a combination of certain components, or different components, for example, it may also include a network interface, etc.

[0052] The processor may be a CPU, or other general-purpose processors, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0053] The memory includes a readable storage medium, an internal memory, etc., wherein the internal memory may be the memory of a computer device, and the internal memory provides an environment for the operation of the operating system and computer-readable instructions in the readable storage medium. The readable storage medium may be a hard disk of a computer device, and in other embodiments, it may also be an external storage device of the computer device, for example, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the computer device. Further, the memory may also include both an internal storage unit of the computer device and an external storage device. The memory is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of a computer program, etc. The memory may also be used to temporarily store data that has been output or is to be output.

[0054] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention. The specific working process of the units and modules in the above-mentioned device can refer to the corresponding process in the above-mentioned method embodiment, which will not be repeated here. If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned method embodiment can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device capable of carrying computer program code, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0055] The present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by a computer program product. When the computer program product runs on a computer device, the computer device can implement the steps in the above-mentioned method embodiment when executing.

[0056] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0057] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0058] In the embodiments provided by the present invention, it should be understood that the disclosed devices / computer equipment and methods can be implemented in other ways. For example, the device / computer equipment embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0059] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0060] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention.

[0061] See also Figure 5 , is a schematic structural diagram of a vehicle 50 provided in a fifth embodiment of the present invention, wherein the vehicle 50 includes a power battery heating control system 30 .

Claims

1. A method for controlling torque output of a vehicle, characterized in that: include: Acquiring the current state information of the vehicle, and calculating the current road adhesion coefficient of the vehicle at the current moment according to the state information; Obtaining a theoretical driving torque slope of the vehicle according to the current road adhesion coefficient; The real-time driving torque slope of the vehicle at the current moment is obtained, and the vehicle is controlled to output a corresponding torque according to the theoretical driving torque slope and the real-time driving torque slope.

2. The method for controlling the torque output of a vehicle according to claim 1, wherein: The step of obtaining the theoretical driving torque slope of the vehicle according to the current road adhesion coefficient includes: Obtaining a mapping relationship between a road adhesion coefficient and a driving torque slope; According to the current road adhesion coefficient and in combination with a mapping relationship between the road adhesion coefficient and the driving torque slope, a theoretical driving torque slope of the vehicle is obtained.

3. The vehicle torque output control method according to claim 1, characterized in that: The step of obtaining the real-time driving torque slope of the vehicle at the current moment includes: Obtaining a mapping relationship between vehicle driving power and driving torque slope; The real-time driving power of the vehicle at the current moment is acquired, and the real-time driving torque slope of the vehicle is obtained by combining the mapping relationship between the vehicle driving power and the driving torque slope.

4. The vehicle torque output control method according to claim 1, characterized in that: The step of controlling the vehicle to output a corresponding torque according to the theoretical driving torque slope and the real-time driving torque slope includes: The smaller driving torque slope of the theoretical driving torque slope and the real-time driving torque slope is taken as the target torque slope; According to the target torque slope, the vehicle is controlled to output a torque corresponding to the target torque slope.

5. A torque output control system for a vehicle, characterized in that: The torque output control system includes a controller and a drive motor, the drive motor is connected to the controller, and the controller is used to execute a torque output control method for a vehicle.

6. The vehicle torque output control system according to claim 5, characterized in that: The vehicle torque output control method comprises: Acquiring the current state information of the vehicle, and calculating the current road adhesion coefficient of the vehicle at the current moment according to the state information; Obtaining a theoretical driving torque slope of the vehicle according to the current road adhesion coefficient; The real-time driving torque slope of the vehicle at the current moment is obtained, and the vehicle is controlled to output a corresponding torque according to the theoretical driving torque slope and the real-time driving torque slope.

7. The vehicle torque output control system according to claim 6, characterized in that: The step of obtaining the theoretical driving torque slope of the vehicle according to the current road adhesion coefficient includes: Obtaining a mapping relationship between a road adhesion coefficient and a driving torque slope; The theoretical driving torque slope of the vehicle is obtained according to the current road adhesion coefficient and in combination with a mapping relationship between the road adhesion coefficient and the driving torque slope.

8. The vehicle torque output control system according to claim 6, characterized in that: The step of obtaining the real-time driving torque slope of the vehicle at the current moment includes: Obtaining a mapping relationship between vehicle driving power and driving torque slope; The real-time driving power of the vehicle at the current moment is acquired, and the real-time driving torque slope of the vehicle is obtained by combining the mapping relationship between the vehicle driving power and the driving torque slope.

9. The vehicle torque output control system according to claim 6, characterized in that: The step of controlling the vehicle to output a corresponding torque according to the theoretical driving torque slope and the real-time driving torque slope includes: The smaller driving torque slope of the theoretical driving torque slope and the real-time driving torque slope is taken as the target torque slope; According to the target torque slope, the vehicle is controlled to output a torque corresponding to the target torque slope.

10. A vehicle, characterized in that: The vehicle comprises the torque output control system of the vehicle as described in any one of claims 5-9.

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