Torque output control method, system and vehicle for a vehicle

Abstract

This invention relates to the field of vehicle control technology, and more particularly to a method, system, and vehicle for controlling vehicle torque output. The method involves acquiring the vehicle's current state information, calculating the current road surface adhesion coefficient based on the state information, obtaining the theoretical driving torque slope based on the current road surface adhesion coefficient, acquiring the real-time driving torque slope of the vehicle at the current moment, and controlling the vehicle to output a corresponding torque slope based on the theoretical and real-time driving torque slopes. In this embodiment, control is implemented at the driving torque slope level based on the driving demand according to the current road surface adhesion coefficient. Feedforward control of drive wheel slippage is already implemented during torque output, improving driving smoothness under various road surface conditions without other performance losses.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a method, system and vehicle for controlling the torque output of a vehicle. Background Technology

[0002] On low-friction surfaces such as icy, snowy, and slippery roads, pure electric vehicles are prone to severe wheel slippage when accelerating due to the high rate of torque loading. This results in loss of acceleration and reduced steering ability; front-wheel-drive vehicles may experience understeer, while rear-wheel-drive vehicles face the risk of fishtailing. Traction control systems (TCS) can effectively reduce safety risks by limiting torque upon detecting wheel slippage. However, due to the excessively steep torque ramp and the delay in bus signal interaction, the torque and slippage are at high levels when the TCS takes effect. As wheel speed decreases to the target level, this leads to a loss of stability and ride comfort, as well as noticeable impact vibrations. Therefore, improving vehicle stability during torque output control is a crucial issue that needs to be addressed. Summary of the Invention

[0003] Therefore, it is necessary to provide a method, system, and vehicle for controlling the torque output of a vehicle to address the aforementioned technical problems and solve the problem of poor vehicle stability during the process of controlling the torque output of the vehicle.

[0004] A first aspect of this application provides a method for controlling the torque output of a vehicle, comprising:

[0005] Obtain the vehicle's current status information and calculate the vehicle's current road surface adhesion coefficient based on the status information.

[0006] Based on the current road surface adhesion coefficient, the theoretical driving torque slope of the vehicle is obtained;

[0007] 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 based on the theoretical driving torque slope and the real-time driving torque slope.

[0008] A second aspect of this application provides a torque output control system for a vehicle, the torque output control system including 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.

[0009] A third aspect of this application provides a vehicle that includes a torque output control system for the vehicle described in any of the second aspects above.

[0010] The advantages of this invention compared to the prior art are:

[0011] The system acquires the vehicle's current state information, calculates the current road surface adhesion coefficient based on this information, obtains the vehicle's theoretical driving torque slope based on the current road surface adhesion coefficient, acquires the vehicle's real-time driving torque slope, and controls the vehicle to output a corresponding torque slope based on both the theoretical and real-time driving torque slopes. In this embodiment, the system controls the driving torque slope based on the driving requirements of the current road surface adhesion coefficient. Feedforward control is implemented to prevent drive wheel slippage during torque output, improving driving smoothness on various road surfaces without any other performance loss. Attached Figure Description

[0012] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a schematic flowchart of a vehicle torque output control method provided in Embodiment 1 of the present invention;

[0014] Figure 2 This is a schematic diagram illustrating the mapping relationship between the road surface adhesion coefficient and the driving torque slope provided in Embodiment 2 of the present invention;

[0015] Figure 3 This is a schematic diagram of the structure of a vehicle torque output control system provided in Embodiment 3 of the present invention;

[0016] Figure 4 This is a schematic diagram of the structure of a computer device provided in Embodiment 4 of the present invention;

[0017] Figure 5 This is a structural schematic diagram of a vehicle provided in Embodiment 5 of the present invention. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] It should be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0020] It should also be understood that the term “and / or” as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0021] As used in this specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if [described condition or event] is detected" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once [described condition or event] is detected," or "in response to detection of [described condition or event]."

[0022] Furthermore, in the description of this invention and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0023] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of the invention include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0024] It should be understood that the sequence number of each step in the following embodiments does not imply the order 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.

[0025] To illustrate the technical solution of the present invention, specific embodiments are described below.

[0026] See Figure 1 This is a flowchart illustrating a vehicle torque output control method according to Embodiment 1 of the present invention. Figure 1As shown, the torque output control method for this vehicle may include the following steps.

[0027] S101: Obtain the vehicle's current status information and calculate the vehicle's current road surface adhesion coefficient based on the status information.

[0028] In step S101, the current vehicle state information is obtained. This state information includes the vehicle's attitude information during driving, which may include the vehicle's driving torque, braking torque, longitudinal acceleration, lateral acceleration, steering wheel angle, wheel speed, and yaw rate. Based on the state information, the current road surface adhesion coefficient is calculated. This coefficient characterizes the friction between the vehicle's tires and the ground at the current moment.

[0029] In this embodiment, the current vehicle status information is obtained, including the vehicle's driving torque, braking torque, longitudinal acceleration, lateral acceleration, steering wheel angle, wheel speed, and yaw rate. That is, the vehicle's data acquisition function is used to collect the driving torque, braking torque, longitudinal acceleration, lateral acceleration, steering wheel angle, wheel speed, and yaw rate during the vehicle's driving process.

[0030] Based on the state information, the current road surface adhesion coefficient of the vehicle at the current moment is calculated. During the calculation, a corresponding calculation model can be used. The calculation model is a trained deep learning model, which takes parameters such as the vehicle's driving torque, braking torque, longitudinal acceleration, lateral acceleration, steering wheel angle, wheel speed and yaw rate as input to the calculation model. The calculation model outputs the vehicle's current road surface adhesion coefficient.

[0031] It should be noted that the vehicle's state information can also be any one or more of the following parameters: driving torque, braking torque, longitudinal acceleration, lateral acceleration, steering wheel angle, wheel speed and yaw rate. That is, the input parameters of the calculation model can be any one or more of the following parameters: driving torque, braking torque, longitudinal acceleration, lateral acceleration, steering wheel angle, wheel speed and yaw rate. This embodiment does not limit this.

[0032] S102: Based on the current road surface adhesion coefficient, obtain the theoretical driving torque slope of the vehicle.

[0033] In step S102, the theoretical driving torque slope of the vehicle is obtained based on the current road surface adhesion coefficient. The driving torque slope is the change in 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 surface adhesion coefficient when the vehicle is kept stable.

[0034] In this embodiment, there is a corresponding mapping relationship between the adhesion coefficient and the driving torque slope. By finding the corresponding mapping relationship, the theoretical driving torque slope corresponding to the current road adhesion coefficient can be obtained.

[0035] In this embodiment, the torque slope of the vehicle is determined according to the corresponding road surface adhesion coefficient, which can meet the needs of different torque output under different road surfaces. Thus, the torque output can maintain the vehicle's stability according to different road surfaces, thereby improving the vehicle's driving stability.

[0036] Optionally, based on the current road surface adhesion coefficient, the theoretical driving torque slope of the vehicle is obtained, including:

[0037] Obtain the mapping relationship between the road surface adhesion coefficient and the driving torque slope;

[0038] Based on the current road surface adhesion coefficient and the mapping relationship between the road surface adhesion coefficient and the driving torque slope, the theoretical driving torque slope of the vehicle is obtained.

[0039] In this embodiment, the mapping relationship between the road surface adhesion coefficient and the driving torque slope is obtained. See [link to documentation]. Figure 2 This is a schematic diagram illustrating the mapping relationship between the road surface adhesion coefficient and the driving torque slope provided in Embodiment 2 of the present invention, as shown below. Figure 2 As shown, there is a positive correlation between the road surface adhesion coefficient and the driving slope. That is, as the road surface adhesion coefficient increases, the driving slope increases until it remains constant. For example, when the road surface adhesion coefficient is 0.2, the corresponding driving torque slope is 1800 Nm / s; when the road surface adhesion coefficient is 0.8, the corresponding driving torque slope is 10000 Nm / s; and when the road surface adhesion coefficient is 0.9, the corresponding driving torque slope is 10000 Nm / s.

[0040] In this embodiment, the theoretical driving torque slope of the vehicle is obtained based on the current road surface adhesion coefficient and the mapping relationship between the road surface adhesion coefficient and the driving torque slope.

[0041] S103: Obtain the real-time driving torque slope of the vehicle at the current moment, and control the vehicle to output the corresponding torque based on the theoretical driving torque slope and the real-time driving torque slope.

[0042] In step S103, the real-time drive torque slope of the vehicle at the current moment is obtained, where the real-time drive torque slope is the drive torque slope at which the vehicle outputs the actual drive torque at the current moment. Based on the theoretical drive torque slope and the real-time drive torque slope, the vehicle outputs the corresponding torque, that is, one of the drive torque slopes is selected from the theoretical drive torque slope and the real-time drive torque slope to control the vehicle outputs the corresponding torque.

[0043] 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 the basis for controlling the vehicle to output the corresponding torque, so as to ensure that the output torque can make the vehicle more stable.

[0044] Based on the theoretical driving torque slope and the real-time driving torque slope, when controlling the vehicle to output the corresponding torque, the rate of change of the torque output by the vehicle per unit time can satisfy the corresponding driving torque slope.

[0045] Optionally, the real-time drive torque slope of the vehicle at the current moment can be obtained, including:

[0046] Obtain the mapping relationship between vehicle drive power and drive torque slope;

[0047] Obtain the vehicle's real-time drive power at the current moment, and combine the mapping relationship between the vehicle's drive power and the drive torque slope to obtain the vehicle's real-time drive torque slope.

[0048] In this embodiment, the vehicle driving power and driving torque slope are mapped to determine the mapping relationship between the vehicle driving power and driving torque slope, so as to determine the corresponding real-time driving torque slope based on the vehicle's real-time driving power at the previous moment.

[0049] It should be noted that the vehicle's real-time drive power can be determined based on the input of the accelerator pedal; different accelerator pedal openings correspond to different real-time drive power. After obtaining the mapping relationship between the vehicle's drive power and the drive torque slope, the real-time drive torque slope corresponding to the real-time drive power is obtained based on the real-time drive power.

[0050] Optionally, based on the theoretical drive torque slope and the real-time drive torque slope, the vehicle output torque is controlled to correspond to the following:

[0051] The target torque slope is the smaller of the theoretical drive torque slope and the real-time drive torque slope.

[0052] Based on the target torque slope, control the vehicle to output the corresponding torque at the target torque slope.

[0053] 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 of the theoretical driving torque slope and the real-time driving torque slope is taken as the target torque slope, and the vehicle is controlled to output the corresponding torque according to the target torque slope.

[0054] For example, when the theoretical driving torque slope is less than the real-time driving torque slope, that is, when the driving torque slope of the vehicle is large at the current moment, the vehicle cannot maintain the stability of the vehicle when outputting torque. Therefore, the theoretical driving torque slope is used as the target torque slope, and the vehicle is controlled to output the corresponding torque according to the target torque slope.

[0055] It should be noted that when controlling the vehicle to output the corresponding torque at the target torque slope, the rate of change of torque per unit time is made equal to the target torque slope to ensure that the vehicle outputs the corresponding torque at a smaller drive torque slope. For example, if the corresponding target torque slope is 4000 Nm / s, then the vehicle is controlled to output the corresponding torque at 4000 Nm / s.

[0056] When the theoretical driving torque slope is greater than the real-time driving torque slope, that is, when the vehicle's driving torque slope is small at the current moment, the vehicle can maintain stability when outputting torque, and there is no need to change the vehicle's output torque. The real-time driving torque slope is used as the target torque slope, and the vehicle is controlled to output the corresponding torque according to the target torque slope.

[0057] It should be noted that when controlling the vehicle to output torque at the target torque slope, if the vehicle cannot maintain stability, the traction anti-slip control system is used to limit the torque slope, which can effectively reduce safety risks.

[0058] The system acquires the vehicle's current state information, calculates the current road surface adhesion coefficient based on this information, obtains the vehicle's theoretical driving torque slope based on the current road surface adhesion coefficient, acquires the vehicle's real-time driving torque slope, and controls the vehicle to output a corresponding torque slope based on both the theoretical and real-time driving torque slopes. In this embodiment, the system controls the driving torque slope based on the driving requirements of the current road surface adhesion coefficient. Feedforward control is implemented to prevent drive wheel slippage during torque output, improving driving smoothness on various road surfaces without any other performance loss.

[0059] See Figure 3 This is a schematic diagram of a vehicle torque output control system according to Embodiment 3 of the present invention. For ease of explanation, only the parts related to the embodiments of the present invention are shown. See also... Figure 3 The torque output control system 30 of the vehicle 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 torque output control method of the vehicle.

[0060] It should be noted that after the controller determines the 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.

[0061] The vehicle's torque output control methods include:

[0062] Obtain the vehicle's current status information and calculate the vehicle's current road surface adhesion coefficient based on the status information.

[0063] Based on the current road surface adhesion coefficient, the theoretical driving torque slope of the vehicle is obtained;

[0064] Obtain the real-time driving torque slope of the vehicle at the current moment, and control the vehicle to output the corresponding torque based on the theoretical driving torque slope and the real-time driving torque slope.

[0065] Based on the current road surface adhesion coefficient, the theoretical driving torque slope of the vehicle is obtained, including:

[0066] Obtain the mapping relationship between the road surface adhesion coefficient and the driving torque slope;

[0067] Based on the current road surface adhesion coefficient and the mapping relationship between the road surface adhesion coefficient and the driving torque slope, the theoretical driving torque slope of the vehicle is obtained.

[0068] Obtain the real-time drive torque slope of the vehicle at the current moment, including:

[0069] Obtain the mapping relationship between vehicle drive power and drive torque slope;

[0070] Obtain the vehicle's real-time drive power at the current moment, and combine the mapping relationship between the vehicle's drive power and the drive torque slope to obtain the vehicle's real-time drive torque slope.

[0071] Based on the theoretical drive torque slope and the real-time drive torque slope, the vehicle output torque is controlled accordingly, including:

[0072] The target torque slope is the smaller of the theoretical drive torque slope and the real-time drive torque slope.

[0073] Based on the target torque slope, control the vehicle to output the corresponding torque at the target torque slope.

[0074] Figure 4 This is a schematic diagram of the structure of a computer device provided in 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 in the diagram), a memory, and a computer program stored in the memory and executable on at least one processor, which, when executed by the processor, implements the steps in the torque output control method embodiments for any of the vehicles described above.

[0075] This computer device may include, but is not limited to, a processor and memory. Those skilled in the art will understand that... Figure 4The examples of computer devices are merely examples and do not constitute a limitation on computer devices. Computer devices may include more or fewer components than shown in the illustration, or combinations of certain components, or different components, such as network interfaces.

[0076] The processor referred to can be a CPU, but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0077] Memory includes readable storage media, internal memory, etc., wherein internal memory can be the RAM of a computer device, providing an environment for the operation of the operating system and computer-readable instructions stored in the readable storage media. The readable storage media can be the hard drive of a computer device, or in other embodiments, it can be an external storage device of the computer device, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card. Furthermore, memory can include both internal storage units and external storage devices of the computer device. Memory is used to store the operating system, applications, bootloader, data, and other programs, such as program code for computer programs. Memory can also be used to temporarily store data that has been output or will be output.

[0078] Those skilled in the art will understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the functions described above can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this invention. The specific working process of the units and modules in the above device can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here. If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention can implement all or part of the processes in the methods of the above embodiments by instructing related hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the above method embodiments. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. A computer-readable medium can include at least: any entity or device capable of carrying computer program code, a recording medium, a computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0079] The present invention can implement all or part of the processes in the methods of the above embodiments, or it can be accomplished by a computer program product. When the computer program product is run on a computer device, the computer device executes the steps in the above method embodiments.

[0080] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0081] Those skilled in the art will recognize that the units and algorithm steps of the various examples 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 implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0082] In the embodiments provided by this invention, it should be understood that the disclosed apparatus / computer devices and methods can be implemented in other ways. For example, the apparatus / computer device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0083] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0084] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

[0085] See Figure 5 This is a structural schematic diagram of a vehicle 50 provided in Embodiment 5 of the present invention. The vehicle 50 includes a power battery heating control system 30.

Claims

1. A torque output control method of a vehicle, characterized by, include: Obtain the vehicle's current state information and calculate the vehicle's current road surface adhesion coefficient based on the state information; wherein, the state information includes the vehicle's driving torque, braking torque, longitudinal acceleration, lateral acceleration, steering wheel angle, wheel speed and yaw rate. Based on the current road surface adhesion coefficient, the theoretical driving torque slope of the vehicle is obtained; wherein, the theoretical driving torque slope of the vehicle is the maximum torque slope that can be maintained under the current road surface adhesion coefficient when the vehicle is kept stable. 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 based on the theoretical driving torque slope and the real-time driving torque slope.

2. The torque output control method for a vehicle as described in claim 1, characterized in that, The step of obtaining the theoretical driving torque slope of the vehicle based on the current road surface adhesion coefficient includes: Obtain the mapping relationship between the road surface adhesion coefficient and the driving torque slope; Based on the current road surface adhesion coefficient and the mapping relationship between the road surface adhesion coefficient and the driving torque slope, the theoretical driving torque slope of the vehicle is obtained.

3. The torque output control method for a vehicle as described in claim 1, characterized in that, The step of obtaining the real-time drive torque slope of the vehicle at the current moment includes: Obtain the mapping relationship between vehicle drive power and drive torque slope; The real-time drive power of the vehicle at the current moment is obtained, and the real-time drive torque slope of the vehicle is obtained by combining the mapping relationship between the vehicle drive power and the drive torque slope.

4. The torque output control method for a vehicle as described in claim 1, characterized in that, The step of controlling the vehicle to output a corresponding torque based on the theoretical driving torque slope and the real-time driving torque slope includes: The target torque slope is the smaller of the theoretical driving torque slope and the real-time driving torque slope. Based on the target torque slope, the vehicle is controlled to output the corresponding torque at 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 being connected to the controller, and the controller being used to perform the following steps: Obtain the vehicle's current state information and calculate the vehicle's current road surface adhesion coefficient based on the state information; wherein, the state information includes the vehicle's driving torque, braking torque, longitudinal acceleration, lateral acceleration, steering wheel angle, wheel speed and yaw rate. Based on the current road surface adhesion coefficient, the theoretical driving torque slope of the vehicle is obtained; wherein, the theoretical driving torque slope of the vehicle is the maximum torque slope that can be maintained under the current road surface adhesion coefficient when the vehicle is kept stable. 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 based on the theoretical driving torque slope and the real-time driving torque slope.

6. The torque output control system for a vehicle as described in claim 5, characterized in that, The step of obtaining the theoretical driving torque slope of the vehicle based on the current road surface adhesion coefficient includes: Obtain the mapping relationship between the road surface adhesion coefficient and the driving torque slope; Based on the current road surface adhesion coefficient and the mapping relationship between the road surface adhesion coefficient and the driving torque slope, the theoretical driving torque slope of the vehicle is obtained.

7. The torque output control system for a vehicle as described in claim 5, characterized in that, The step of obtaining the real-time drive torque slope of the vehicle at the current moment includes: Obtain the mapping relationship between vehicle drive power and drive torque slope; The real-time drive power of the vehicle at the current moment is obtained, and the real-time drive torque slope of the vehicle is obtained by combining the mapping relationship between the vehicle drive power and the drive torque slope.

8. The torque output control system for a vehicle as described in claim 5, characterized in that, The step of controlling the vehicle to output a corresponding torque based on the theoretical driving torque slope and the real-time driving torque slope includes: The target torque slope is the smaller of the theoretical driving torque slope and the real-time driving torque slope. Based on the target torque slope, the vehicle is controlled to output the corresponding torque at the target torque slope.

9. A vehicle, characterized in that, The vehicle includes the torque output control system of the vehicle according to any one of claims 5-8.

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