Motor torque control method, device, equipment and storage medium

Abstract

The method comprises: determining a first torque demand value according to an accelerator opening degree and a vehicle speed; determining a target torque limit value of a driving motor at a current rotating speed; determining a second torque demand value according to a first size relationship between the first torque demand value and the target torque limit value; determining a motor power demand value according to the second torque demand value and a current rotating speed of the motor; calculating an engine power increase amount and an engine power decrease amount according to an engine power, a current rotating speed of the engine, an increase power change rate and a decrease power change rate of the vehicle at a previous moment; determining a final motor power demand value according to a second size relationship between the motor power demand value and first and second calculation results; and calculating a final torque demand value of the driving motor according to the final motor power demand value and the current rotating speed of the motor. The method can reduce the demand of a power battery and improve the service life and reliability of the battery.

Description

TECHNICAL FIELD

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

[0002] With the rapid development of electric vehicles (EV) and hybrid electric vehicles (HEV), the response speed and efficiency of the powertrain have become key technical challenges. In these vehicles, the drive motor and the engine work together to provide power, but they have significant differences in power response. The drive motor is known for its fast power response, which is mainly due to its small electromechanical time constant and high dynamic performance. In contrast, the power response of the engine is relatively slow, mainly due to the mechanical characteristics of the engine and the limitations of the combustion process.

[0003] In actual driving, the driver controls the vehicle speed by adjusting the throttle opening, which directly affects the power output demand of the drive motor and the engine. However, due to the much faster power response speed of the drive motor than the engine, when the wheel-end power (i.e., drive motor power) changes sharply, the engine often cannot respond in time, resulting in a sharp increase in the charge and discharge power demand of the power battery. This frequent high-power charge and discharge not only increases the cost of the power battery, but also poses a challenge to the life and reliability of the battery. SUMMARY

[0004] Therefore, the present disclosure proposes a motor torque control method, device, equipment and storage medium to solve the problem that the power response of the engine is insufficient when the wheel-end power (drive motor power) changes sharply due to the much faster power response speed of the drive motor than the engine, resulting in a high power demand for charging and discharging the power battery, which increases the cost of the power battery and affects the life and reliability of the power battery.

[0005] The first aspect of the present disclosure provides a motor torque control method, which comprises:

[0006] determining a first torque demand value of a drive motor of the vehicle according to the throttle opening and the current speed of the vehicle;

[0007] determining a target torque limit value of the drive motor at the current speed of the drive motor according to the current speed of the drive motor and a first mapping table; the first mapping table comprises a plurality of motor speeds and a torque limit value corresponding to each motor speed;

[0008] determining a second torque demand value according to the first size relationship between the first torque demand value and the target torque limit value;

[0009] determining a motor power demand value according to the second torque demand value and a current rotating speed of the motor;

[0010] calculating an engine power increase amount and an engine power decrease amount according to an engine power of the vehicle at a previous time, a current rotating speed of the engine, an engine power increase rate and an engine power decrease rate;

[0011] determining a final motor power demand value according to a second size relationship between the motor power demand value and a first calculation result and a second calculation result; the first calculation result is a difference result of the engine power and the engine power decrease amount, and the second calculation result is a summation result of the engine power and the engine power increase amount;

[0012] calculating a final torque demand value of the driving motor according to the final motor power demand value and the current rotating speed of the motor.

[0013] The embodiment of the present disclosure determines the final motor power demand value according to the second size relationship between the motor power demand value and the first calculation result and the second calculation result, and then calculates the final torque demand value of the driving motor. Through the motor torque control method, the demand for the charge-discharge power of the power battery in the case of sharp change of the wheel end power can be effectively reduced, so as to reduce the battery cost, and improve the battery life and reliability of the power battery.

[0014] In the embodiment of the present disclosure, determining a first torque demand value of a driving motor of the vehicle according to an accelerator opening degree and a current vehicle speed of the vehicle comprises:

[0015] selecting a first torque demand value corresponding to the accelerator opening degree and the current vehicle speed from a second mapping table; wherein the second mapping table comprises a plurality of mapping relationships, and each mapping relationship comprises a corresponding accelerator opening degree, a corresponding vehicle speed and a corresponding torque demand value.

[0016] In the embodiment of the present disclosure, determining a second torque demand value according to a first size relationship between the first torque demand value and a target torque limit value comprises:

[0017] if the first torque demand value is less than or equal to the target torque limit value, determining the first torque demand value as the second torque demand value;

[0018] if the first torque demand value is greater than the target torque limit value, determining the target torque limit value as the second torque demand value.

[0019] In the embodiment of the present disclosure, the engine power increase amount and the engine power decrease amount are calculated according to the engine power of the vehicle at the last moment, the current engine speed, the engine power increase rate and the engine power decrease rate, and the engine power increase amount and the engine power decrease amount include:

[0020] The target engine power increase rate corresponding to the current engine speed is screened from a third mapping table; the third mapping table includes a plurality of engine speeds and an engine power increase rate corresponding to each engine speed;

[0021] The engine power increase amount is calculated according to the engine power of the vehicle at the last moment and the target engine power increase rate.

[0022] In the embodiment of the present disclosure, the method further includes:

[0023] The target engine power decrease rate corresponding to the current engine speed is screened from a fourth mapping table; the fourth mapping table includes a plurality of engine speeds and an engine power decrease rate corresponding to each engine speed;

[0024] The engine power decrease amount is calculated according to the engine power of the vehicle at the last moment and the target engine power decrease rate.

[0025] In the embodiment of the present disclosure, the final motor power demand value is determined according to the second size relationship between the motor power demand value and the first calculation result and the second calculation result, and the final motor power demand value includes:

[0026] If the motor power demand value is greater than or equal to the first calculation result and less than or equal to the second calculation result, the motor power demand value is determined as the final motor power demand value.

[0027] In the embodiment of the present disclosure, the method further includes:

[0028] If the motor power demand value is less than the first calculation result, the first calculation result is determined as the final motor power demand value.

[0029] If the motor power demand value is greater than the second calculation result, the second calculation result is determined as the final motor power demand value.

[0030] The embodiment of the second aspect of the present disclosure provides a motor torque control device, including:

[0031] A first torque demand value determination module is configured to determine a first torque demand value of a driving motor of a vehicle according to an accelerator opening degree and a current vehicle speed of the vehicle.

[0032] The target torque limit value determination module is configured to determine a target torque limit value of the drive motor at the current motor speed of the drive motor according to the current motor speed of the drive motor and a first mapping table, wherein the first mapping table comprises a plurality of motor speeds and a torque limit value corresponding to each motor speed.

[0033] The second torque demand value determination module is configured to determine a second torque demand value according to a first size relationship between the first torque demand value and the target torque limit value.

[0034] The motor power demand value determination module is configured to determine a motor power demand value according to the second torque demand value and the current motor speed of the drive motor.

[0035] The power change amount calculation module is configured to calculate an engine power increase change amount and an engine power decrease change amount according to an engine power, a current engine speed, an engine power increase rate and an engine power decrease rate of the vehicle at a previous moment.

[0036] The motor final power demand value determination module is configured to determine a motor final power demand value according to a second size relationship between the motor power demand value and a first calculation result and a second calculation result, wherein the first calculation result is a difference result of the engine power and the engine power decrease change amount, and the second calculation result is a summation result of the engine power and the engine power increase change amount.

[0037] The final torque demand value calculation module is configured to calculate a final torque demand value of the drive motor according to the motor final power demand value and the current motor speed of the drive motor.

[0038] Embodiments of the third aspect of the present disclosure provide an electronic device, which comprises a memory and a processor, the memory and the processor are connected with each other in communication, the memory stores computer instructions, and the processor executes the computer instructions to perform the motor torque control method of the first aspect.

[0039] Embodiments of the fourth aspect of the present disclosure provide a computer readable storage medium, which stores computer instructions, and the computer instructions are used to make a computer execute the motor torque control method of the first aspect.

[0040] Additional aspects and advantages of the present disclosure will be made apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0041] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments with reference made to the accompanying drawings. The drawings are for purposes of illustration only and are not intended to be limiting in

[0042] In the drawings:

[0043] Figure 1 A flowchart of a motor torque control method according to an embodiment of the present disclosure is shown;

[0044] Figure 2 A structural diagram of a motor torque control device according to an embodiment of the present disclosure is shown;

[0045] Figure 3 A structural diagram of an electronic device according to an embodiment of the present disclosure is shown;

[0046] Figure 4 A schematic diagram of a storage medium according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0047] Exemplary embodiments of the present disclosure will be described hereinafter with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be embodied in various forms without being limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the present disclosure to those skilled in the art.

[0048] It should be noted that unless otherwise specified, technical terms or scientific terms used in the present disclosure should be understood as their ordinary meanings to one skilled in the art of the present disclosure.

[0049] According to an embodiment of the present disclosure, a motor torque control method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described herein can be executed in an order different from that shown herein.

[0050] In the present embodiment, a motor torque control method is provided, Figure 1 A flowchart of a motor torque control method according to an embodiment of the present disclosure is shown, as shown in Figure 1 The flowchart includes the following steps:

[0051] Step S101, according to the accelerator opening degree and the current vehicle speed of the vehicle, determining the first torque demand value of the drive motor of the vehicle.

[0052] In some embodiments, step S101 comprises step S1011:

[0053] Step S1011: filtering, from the second mapping table, a first torque demand value corresponding to the accelerator opening degree and the current vehicle speed.

[0054] In the embodiments of the present disclosure, a second mapping table is established in advance, which includes a plurality of mapping relationships, each of which includes a corresponding accelerator opening degree, a corresponding vehicle speed and a corresponding torque demand value. For example, mapping relationship 1 includes accelerator opening degree 1-vehicle speed 1-torque demand value 1, mapping relationship 2 includes accelerator opening degree 2-vehicle speed 2-torque demand value 2,..., and mapping relationship n includes accelerator opening degree n-vehicle speed n-torque demand value n. Through the second mapping table established in advance, the first torque demand value corresponding to the accelerator opening degree and the current vehicle speed can be determined.

[0055] Step S102: determining, according to the current motor speed of the drive motor and the first mapping table, a target torque limit value of the drive motor at the current speed.

[0056] In the embodiments of the present disclosure, a first mapping table is established in advance, which includes a plurality of motor speeds and a torque limit value corresponding to each motor speed (which can be understood as the maximum torque limit of the motor). For example, motor speed 1-torque limit value 1, motor speed 2-torque limit value 2,..., and motor speed n-torque limit value n. Through the first mapping table established in advance, the target torque limit value of the drive motor at the current speed can be determined.

[0057] Step S103: determining a second torque demand value according to the first size relationship between the first torque demand value and the target torque limit value.

[0058] In some embodiments, step S103 comprises step S1031-step S1032:

[0059] Step S1031: if the first torque demand value is less than or equal to the target torque limit value, the first torque demand value is determined as the second torque demand value.

[0060] Step S1032: if the first torque demand value is greater than the target torque limit value, the target torque limit value is determined as the second torque demand value.

[0061] In steps S1031-S1032, if TrqReq t ≤ TrqLt t , then TrqReqLt t = TrqReq t; otherwise, if TrqReq t > TrqLt t , then TrqReqLt t = TrqLt t . Wherein, TrqReq t represents the first torque demand value, TrqLt t represents the target torque limit value, and TrqReqLt t represents the second torque demand value.

[0062] Step S104, determining the motor power demand value according to the second torque demand value and the current motor speed.

[0063] In the embodiments of the present disclosure, the motor power demand value can be calculated by the following formula:

[0064] PwrReq t = nTMSpd t * TrqReqLt t / 9550

[0065] Wherein, PwrReq t represents the motor power demand value, nTMSpd t represents the current motor speed, and TrqReqLt t represents the second torque demand value.

[0066] Step S105, calculating the engine power increase amount and the engine power decrease amount according to the engine power of the vehicle at the last moment, the current engine speed, the engine power increase rate and the engine power decrease rate.

[0067] In some specific embodiments, the above-mentioned step S105 includes steps a1-a2:

[0068] Step a1, screening the target power increase rate corresponding to the current engine speed from the third mapping table.

[0069] In the embodiments of the present disclosure, a third mapping table is established in advance, which includes a plurality of engine speeds and the power increase rate corresponding to each engine speed. By establishing the third mapping table, the target power increase rate corresponding to the current engine speed can be determined.

[0070] Step a2, calculating the engine power increase amount according to the engine power of the vehicle at the last moment and the target power increase rate.

[0071] In the embodiments of the present disclosure, the engine power increase amount can be calculated by the following formula:

[0072] HPwrPart t = EngPwr t-1 * S1

[0073] wherein, HPwrPart t represents the engine power increase amount, EngPwr t-1 represents the engine power of the vehicle at the last moment, and S1 represents the target power increase rate.

[0074] In some embodiments, the step S105 comprises steps b1-b2:

[0075] Step b1, screening the target power decrease rate corresponding to the current engine speed from the fourth mapping table.

[0076] In the embodiments of the present disclosure, a fourth mapping table is established in advance, which includes a plurality of engine speeds and a power decrease rate corresponding to each engine speed. By establishing the fourth mapping table, the target power decrease rate corresponding to the current engine speed can be determined.

[0077] Step b2, calculating the engine power decrease amount according to the engine power of the vehicle at the last moment and the target power decrease rate.

[0078] In the embodiments of the present disclosure, the engine power decrease amount can be calculated by the following formula:

[0079] LPwrPart t = EngPwr t-1 * S2

[0080] wherein, LPwrPart t represents the engine power decrease amount, EngPwr t-1 represents the engine power of the vehicle at the last moment, and S2 represents the target power decrease rate.

[0081] The steps a1-a2 and b1-b2 are described as follows:

[0082] Suppose the current engine speed (EngSpdt) is 3000 rpm.

[0083] In the engine power increase rate MAP (i.e. the third mapping table described above), the target power increase rate S1 corresponding to 3000 rpm is found to be 5% (0.05).

[0084] In the engine power decrease rate MAP (i.e. the fourth mapping table described above), the target power decrease rate S2 corresponding to 3000 rpm is found to be 3% (0.03).

[0085] Calculate the increase power change (HPwrPart t ) :

[0086] Suppose the engine power at the last time (EngPwrt-1) is 100 kW.

[0087] Calculate the increase power change (HPwrPart t ) = EngPwrt-1 x target increase power change rate S1

[0088] HPwrPart t = 100 kW x 0.05 = 5 kW

[0089] Calculate the decrease power change (LPwrPart t ) :

[0090] Calculate the decrease power change (LPwrPart t ) = EngPwrt-1 x target decrease power change rate S2

[0091] LPwrPart t = 100 kW x 0.03 = 3 kW

[0092] Step S106, determine the motor final power demand value according to the second size relationship between the motor power demand value and the first calculation result and the second calculation result.

[0093] In the embodiments of the present disclosure, the first calculation result refers to the difference result of the engine power and the engine decrease power change, for example: the first calculation result refers to EngPwr t-1 -LPwrPart t , wherein EngPwr t-1 refers to the engine power of the vehicle at the last time, and LPwrPart t refers to the engine decrease power change. The second calculation result refers to the summation result of the engine power and the engine increase power change, for example: EngPwr t-1 + HPwrPart t .

[0094] In some specific embodiments, the above step S106 includes steps S1061-S1063:

[0095] Step S1061, if the motor power demand value is greater than or equal to the first calculation result, and the motor power demand value is less than or equal to the second calculation result, then the motor power demand value is determined as the motor final power demand value.

[0096] For example, the above step S1061 is explained:

[0097] if EngPwr t-1 -LPwrPart t ≤ PwrReq t ≤ EngPwr t-1 + HPwrPart t , then TMPwrEngLt t = PwrReq t . Wherein, EngPwr t-1 -LPwrPart t represents the first calculation result, PwrReq t represents the motor power requirement value, EngPwr t-1 + HPwrPart t represents the second calculation result, and TMPwrEngLt t represents the final motor power requirement value.

[0098] Step S1062, if the motor power requirement value is less than the first calculation result, the first calculation result is determined as the final motor power requirement value.

[0099] For example, the above step S1062 is explained as follows: if PwrReq t < EngPwr t-1 -LPwrPart t , then TMPwrEngLt t = EngPwr t-1 -LPwrPart t .

[0100] Step S1063, if the motor power requirement value is greater than the second calculation result, the second calculation result is determined as the final motor power requirement value.

[0101] For example, the above step S1063 is explained as follows: if PwrReq t > EngPwr t-1 + HPwrPart t , then TMPwrEngLt t = EngPwr t-1 + HPwrPart t .

[0102] Step S107, the final torque requirement value of the driving motor is calculated according to the final motor power requirement value and the current rotating speed of the motor.

[0103] In the embodiments of the present disclosure, the final torque requirement value of the driving motor can be calculated by the following formula:

[0104] TMTrq t =TMPwrEngLt t *9550 / nTMSpd t

[0105] Among them, TMTrq t Indicates the final torque requirement value of the drive motor, TMPwrEngLt t Indicates the final power requirement of the motor, nTMSpd t Indicates the current speed of the motor.

[0106] The disclosed embodiments can reduce power battery requirements, lower costs, and increase power battery life and reliability. Furthermore, unlike the shifting process, the shifting efficiency can be improved while ensuring economy.

[0107] Corresponding to the implementation of the above motor torque control method, the embodiment of the present disclosure also provides a motor torque control device for executing the above Figure 1 The motor torque control method described in any of the embodiments shown. Figure 2 As shown, the motor torque control device includes:

[0108] a first torque requirement value determining module, configured to determine a first torque requirement value of a drive motor of the vehicle according to an accelerator opening and a current vehicle speed;

[0109] a target torque limit value determining module, configured to determine a target torque limit value of the drive motor at the current speed of the drive motor based on the current speed of the drive motor and a first mapping table; the first mapping table including a plurality of motor speeds and a torque limit value corresponding to each motor speed;

[0110] a second torque requirement value determining module, configured to determine a second torque requirement value according to a first magnitude relationship between the first torque requirement value and the target torque limit value;

[0111] a motor power requirement value determining module, configured to determine a motor power requirement value according to the second torque requirement value and the current speed of the motor;

[0112] a power change calculation module, configured to calculate an engine power increase change and an engine power reduction change based on the engine power, the current engine speed, the engine power increase change rate, and the engine power reduction change rate of the vehicle at the previous moment;

[0113] The motor final power demand value determination module is configured to determine a motor final power demand value according to a second size relationship between the motor power demand value and a first calculation result and a second calculation result. The first calculation result refers to a difference result of the engine power and the engine power reduction variation amount, and the second calculation result refers to a summation result of the engine power and the engine power increase variation amount.

[0114] The motor final power demand value determination module is configured to determine a motor final power demand value according to a second size relationship between the motor power demand value and a first calculation result and a second calculation result. The first calculation result refers to a difference result of the engine power and the engine power reduction variation amount, and the second calculation result refers to a summation result of the engine power and the engine power increase variation amount.

[0115] Optionally, the first torque demand value determination module is further configured to: filter a first torque demand value corresponding to the accelerator opening degree and the current vehicle speed from a second mapping table. The second mapping table includes a plurality of mapping relationships, and each mapping relationship includes a corresponding accelerator opening degree, a corresponding vehicle speed, and a corresponding torque demand value.

[0116] Optionally, the second torque demand value determination module is further configured to: if the first torque demand value is less than or equal to the target torque limit value, determine the first torque demand value as the second torque demand value; and if the first torque demand value is greater than the target torque limit value, determine the target torque limit value as the second torque demand value.

[0117] Optionally, the power variation amount calculation module is further configured to: filter a target power increase rate corresponding to the engine current speed from a third mapping table. The third mapping table includes a plurality of engine speeds and an engine speed corresponding power increase rate. According to the engine power of the vehicle at the previous moment and the target power increase rate, the engine power increase variation amount is calculated.

[0118] Optionally, the power variation amount calculation module is further configured to: filter a target power increase rate corresponding to the engine current speed from a third mapping table. The third mapping table includes a plurality of engine speeds and an engine speed corresponding power increase rate. According to the engine power of the vehicle at the previous moment and the target power increase rate, the engine power increase variation amount is calculated.

[0119] Optionally, the motor final power demand value determination module is further configured to: if the motor power demand value is greater than or equal to the first calculation result and the motor power demand value is less than or equal to the second calculation result, determine the motor power demand value as the motor final power demand value.

[0120] Optionally, the motor final power demand value determination module is further configured to: if the motor power demand value is less than the first calculation result, determining the first calculation result as the motor final power demand value.

[0121] if the motor power demand value is greater than the second calculation result, determining the second calculation result as the motor final power demand value.

[0122] The motor torque control device provided by the above-mentioned embodiments of the present disclosure has the same beneficial effects as the motor torque control method provided by the embodiments of the present disclosure and the method adopted, run or implemented by the application program stored therein.

[0123] The embodiments of the present disclosure further provide an electronic device for executing the above-mentioned motor torque control method. Please refer to Figure 3 which shows a schematic diagram of an electronic device provided by some embodiments of the present disclosure. As shown in Figure 3 The electronic device 3 comprises a processor 300, a memory 301, a bus 302 and a communication interface 303, wherein the processor 300, the communication interface 303 and the memory 301 are connected through the bus 302; the memory 301 stores a computer program which can be run on the processor 300, and the processor 300 executes the motor torque control method provided by any of the above-mentioned embodiments of the present disclosure when running the computer program. Figure 1 The motor torque control method provided by any of the above-mentioned embodiments.

[0124] The memory 301 can include a high-speed random access memory (RAM) and can also include a non-volatile memory such as at least one disk memory. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 303 (which can be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. can be used.

[0125] The bus 302 can be an ISA bus, a PCI bus or an EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. The memory 301 is used to store programs, and the processor 300 executes the programs after receiving execution instructions, and the above-mentioned Figure 1 The motor torque control method disclosed by any of the above-mentioned embodiments can be applied in the processor 300 or implemented by the processor 300.

[0126] The processor 300 can be an integrated circuit chip with signal processing capability. In the implementation process, each step of the above method can be completed by the integrated logic circuit of hardware in the processor 300 or the instruction in the form of software. The processor 300 described above can be a general processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a ready programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. Each method, step and logic block disclosed in the embodiment of the present disclosure can be implemented or executed. The general processor can be a microprocessor or any conventional processor. The steps of the method disclosed in combination with the embodiment of the present disclosure can be directly embodied as a hardware code processor for execution, or a combination of hardware and software modules in the code processor for execution. The software module can be located in a random memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium in the art. The storage medium is located in the memory 301, and the processor 300 reads the information in the memory 301, and combines the hardware to complete the steps of the above method.

[0127] The electronic device provided by the embodiment of the present disclosure and the motor torque control method provided by the embodiment of the present disclosure have the same beneficial effects as the method adopted, run or implemented.

[0128] The embodiment of the present disclosure also provides a computer readable storage medium corresponding to the motor torque control method provided by the foregoing embodiment. Please refer to Figure 4 The computer readable storage medium shown is an optical disc 30, and a computer program (i.e. program product) is stored on the optical disc 30. When the processor runs the computer program, the motor torque control method provided by any of the foregoing embodiments is executed.

[0129] It should be noted that examples of the computer readable storage medium can also include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other optical, magnetic storage medium, which will not be described one by one here.

[0130] The computer readable storage medium provided by the above embodiments of the present disclosure has the same beneficial effects as the motor torque control method provided by the embodiments of the present disclosure, and has the same beneficial effects as the method adopted, run or implemented by the application program stored therein.

[0131] It should be noted that:

[0132] In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the disclosure can be practiced without these specific details. In some instances, well-known structures and techniques have not been shown in detail in order not to obscure the understanding of this description.

[0133] Similarly, it is to be understood that the above description is illustrative of the aspects of the present disclosure and that changes can be made to the disclosure by one skilled in the art without departing from the scope thereof as disclosed in the appended claims.

[0134] In addition, those skilled in the art will appreciate that, although some of the embodiments described herein comprise certain features that are not included in other embodiments, combinations of the features of the different embodiments are to be construed as being within the scope of the present disclosure and forming different embodiments. For example, in the following claims, any of the claimed embodiments can be used in any combination.

[0135] The above descriptions are only the preferred embodiments of the present disclosure, but the protection scope of the present disclosure is not limited thereto, and any changes or substitutions within the technical scope disclosed by the present disclosure can be easily conceived by those skilled in the art, which should be covered by the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

1. A method of motor torque control, characterized by, The method comprises: determining a first torque demand value of a drive motor of a vehicle according to an accelerator opening degree and a current speed of the vehicle; determining a target torque limit value of the drive motor at a current rotating speed of the drive motor according to the current rotating speed and a first mapping table; the first mapping table comprises a plurality of rotating speeds of the motor and a torque limit value corresponding to each rotating speed of the motor; determining a second torque demand value according to a first size relationship between the first torque demand value and the target torque limit value; determining a motor power demand value according to the second torque demand value and the current rotating speed of the motor; calculating an engine power increase amount and an engine power decrease amount according to an engine power, a current rotating speed of an engine, an engine power increase rate and an engine power decrease rate of the vehicle at a previous time; determining a final motor power demand value according to a second size relationship between the motor power demand value and first and second calculation results; the first calculation result is a difference result of the engine power and the engine power decrease amount, and the second calculation result is a sum result of the engine power and the engine power increase amount; calculating a final torque demand value of the drive motor according to the final motor power demand value and the current rotating speed of the motor.

2. The method of claim 1, wherein, The method comprises: determining a first torque demand value of a drive motor of a vehicle according to an accelerator opening degree and a current speed of the vehicle, comprising:

3. The method according to claim 1 or 2, characterized in that, selecting a first torque demand value corresponding to the accelerator opening degree and the current speed from a second mapping table; the second mapping table comprises a plurality of mapping relationships, and each mapping relationship comprises a corresponding accelerator opening degree, a corresponding vehicle speed and a corresponding torque demand value. determining a second torque demand value according to a first size relationship between the first torque demand value and the target torque limit value, comprising: if the first torque demand value is less than or equal to the target torque limit value, determining the first torque demand value as the second torque demand value; 4. The method according to claim 1 or 2, characterized in that, if the first torque demand value is greater than the target torque limit value, determining the target torque limit value as the second torque demand value. calculating an engine power increase amount and an engine power decrease amount according to an engine power, a current rotating speed of an engine, an engine power increase rate and an engine power decrease rate of the vehicle at a previous time, comprising: selecting a target power increase rate corresponding to the current rotating speed of the engine from a third mapping table; the third mapping table comprises a plurality of rotating speeds of the engine and a power increase rate corresponding to each rotating speed of the engine; 5. The method of claim 4, wherein, calculating the engine power increase amount according to the engine power at the previous time and the target power increase rate. The method further comprises: selecting a target power decrease rate corresponding to the current rotating speed of the engine from a fourth mapping table; the fourth mapping table comprises a plurality of rotating speeds of the engine and a power decrease rate corresponding to each rotating speed of the engine; calculating the engine power decrease amount according to the engine power at the previous time and the target power decrease rate.

6. The method of claim 1 or 2, wherein, The motor final power demand value is determined according to a second size relationship between the motor power demand value and a first calculation result and a second calculation result, including: If the motor power demand value is greater than or equal to the first calculation result and less than or equal to the second calculation result, the motor power demand value is determined as the motor final power demand value.

7. The method of claim 6, wherein, The method further includes: If the motor power demand value is less than the first calculation result, the first calculation result is determined as the motor final power demand value; If the motor power demand value is greater than the second calculation result, the second calculation result is determined as the motor final power demand value.

8. An electric motor torque control device characterized by comprising: The device includes: A first torque demand value determination module is configured to determine a first torque demand value of a drive motor of a vehicle according to an accelerator opening degree and a current speed of the vehicle; A target torque limit value determination module is configured to determine a target torque limit value of the drive motor at a current speed of the drive motor according to the current speed of the drive motor and a first mapping table; the first mapping table includes a plurality of motor speeds and a torque limit value corresponding to each motor speed; A second torque demand value determination module is configured to determine a second torque demand value according to a first size relationship between the first torque demand value and the target torque limit value; A motor power demand value determination module is configured to determine a motor power demand value according to the second torque demand value and the current speed of the drive motor; A power change amount calculation module is configured to calculate an engine power increase change amount and an engine power decrease change amount according to an engine power, an engine current speed, an engine power increase rate and an engine power decrease rate of the vehicle at a previous time; A motor final power demand value determination module is configured to determine a motor final power demand value according to a second size relationship between the motor power demand value and a first calculation result and a second calculation result; the first calculation result is a difference result of the engine power and the engine power decrease change amount, and the second calculation result is a sum result of the engine power and the engine power increase change amount; A final torque demand value calculation module is configured to calculate a final torque demand value of the drive motor according to the motor final power demand value and the current speed of the drive motor.

9. A computer device, comprising: It includes: A memory and a processor are communicatively connected, and the memory stores computer instructions; the processor executes the computer instructions to perform the motor torque control method in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for causing a computer to perform the motor torque control method in any one of claims 1 to 7.

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