Torque control method and apparatus

Abstract

The invention provides a torque control method and equipment. The method comprises the following steps: acquiring a request torque at a first moment; according to the request torque at the first moment, whether a torque zero-crossing control strategy is activated or not is determined; when the torque zero-crossing control strategy is activated, the torque of the vehicle is controlled through the request torque at the second moment, the first moment and the second moment are adjacent moments, and the second moment is earlier than the first moment. The method is used for achieving the effects of reducing the torque zero-crossing frequency and improving the intelligent driving experience.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a torque control method and device. Background Art

[0002] With the development of pure electric vehicles and intelligent driving technology, users have increasingly higher requirements for intelligent driving comfort.

[0003] At present, after the intelligent driving main controller determines the acceleration and deceleration request, it sends the acceleration and deceleration request to the brake controller, and the brake controller converts the acceleration and deceleration request into a torque request and sends it to the motor controller via the vehicle controller for execution.

[0004] In some scenarios, the above method may result in a high frequency of torque zero crossing, vehicle shaking, jerking, etc., and a poor intelligent driving experience. Summary of the invention

[0005] The present application provides a torque control method and device to solve the problems of high torque zero-crossing frequency and poor intelligent driving experience in the prior art.

[0006] In a first aspect, the present application provides a torque control method, comprising:

[0007] Get the requested torque at the first moment;

[0008] Determining whether to activate the torque zero-crossing control strategy according to the requested torque at the first moment;

[0009] When the torque zero-crossing control strategy is activated, the vehicle torque is controlled using the requested torque at the second moment, wherein the first moment and the second moment are adjacent moments and the second moment is prior to the first moment.

[0010] In some embodiments, determining whether to activate the torque zero-crossing control strategy according to the requested torque at the first moment includes:

[0011] When the requested torque at the first moment and the requested torque at the second moment meet the following conditions and no emergency braking request is received, determining to activate the torque zero-crossing control strategy;

[0012] Condition 1: opposite direction;

[0013] Condition 2: The absolute value of the difference is less than the preset torque value;

[0014] Condition 3: The requested torque at the first moment is greater than the driver requested torque.

[0015] In some embodiments, determining whether to activate the torque zero-crossing control strategy according to the requested torque at the first moment further includes:

[0016] If any one of Condition 1, Condition 2, and Condition 3 is not satisfied, the vehicle torque is controlled according to the requested torque at the first time.

[0017] In some embodiments, obtaining the requested torque at a first moment includes:

[0018] Get the initial requested acceleration at the first moment;

[0019] Determining a target requested acceleration at the first moment according to the initial requested acceleration at the first moment and the requested acceleration at the second moment;

[0020] The requested torque at the first moment is determined according to the target requested acceleration at the first moment.

[0021] In some embodiments, determining a target requested acceleration at the first moment according to an initial requested acceleration at the first moment and a requested acceleration at the second moment includes:

[0022] When the initial requested acceleration at the first moment is in opposite directions to the requested acceleration at the second moment and both are less than a preset threshold, the target requested acceleration at the first moment is determined according to the preset acceleration change slope and the requested acceleration at the second moment.

[0023] In some embodiments, the method further comprises:

[0024] Get the vehicle speed at the first moment;

[0025] A preset threshold is determined according to the vehicle speed at the first moment.

[0026] In a second aspect, the present application provides a torque control device, comprising:

[0027] An acquisition module, used for acquiring a requested torque at a first moment;

[0028] A determination module, configured to determine whether to activate a torque zero-crossing control strategy according to a requested torque at a first moment;

[0029] The control module is used to control the vehicle torque using the requested torque at a second moment when the torque zero-crossing control strategy is activated, wherein the first moment and the second moment are adjacent moments and the second moment is prior to the first moment.

[0030] In a third aspect, the present application provides an electronic device, including: a memory and a processor;

[0031] The memory is used to store computer programs; the processor is used to execute the computer programs stored in the memory to implement the torque control method in the first aspect and any one of the embodiments of the first aspect.

[0032] In a fourth aspect, the present application provides a vehicle, comprising the electronic device in the third aspect.

[0033] In a fifth aspect, the present application provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the torque control method in the first aspect and any one of the embodiments of the first aspect.

[0034] The torque control method and device provided in the present application determine the activation of the torque zero crossing control strategy based on the requested torque at the first moment, and use the requested torque at the second moment to control the vehicle torque to reduce the torque zero crossing, thereby achieving the effect of reducing the torque zero crossing frequency and improving the intelligent driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0036] Figure 1 A flow chart of a torque control method provided in one embodiment of the present application;

[0037] Figure 2 A partial flow chart of a torque control method provided in one embodiment of the present application;

[0038] Figure 3 A schematic diagram of the structure of a torque control device provided in one embodiment of the present application;

[0039] Figure 4 A schematic diagram of the hardware structure of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0041] As used herein, the word "if" may be interpreted as "when" or "when" or "in response to determining," depending on the context.

[0042] With the development of electric vehicles and intelligent driving technology, users have higher and higher requirements for intelligent driving comfort. Due to the hardware structure characteristics of the vehicle transmission system, the torque zero-crossing condition is relatively easy to produce uncomfortable feelings such as shaking and frustration. How to optimize the control of the zero-crossing condition and improve the driving experience has become increasingly important.

[0043] At present, during intelligent driving, the AD Main Computer Unit (ADMC) requests acceleration and deceleration and sends it to the Brake Control Module (BCM) for execution. Under driving conditions, the BCM converts the acceleration and deceleration request into driving torque (>0Nm) and sends it to the Motor Control Unit (MCU) for execution via the Vehicle Control Unit (VCU). Under braking conditions, the BCM converts the acceleration and deceleration request into braking torque (<0Nm). The braking torque can be divided into hydraulic braking and motor braking, and the distribution ratio of electro-hydraulic braking is determined by the BCM. If motor braking is required, the BCM sends the motor braking torque request to the MCU for execution via the VCU. If all hydraulic braking is used, the BCM directly controls the relevant brake actuators for execution.

[0044] During the entire torque control process, the BCM responds to the acceleration and deceleration request from the ADMC and converts the acceleration and deceleration request into a torque request. In order to quickly respond to the intelligent driving request and meet the timeliness and accuracy of the requested acceleration and deceleration, the BCM does not perform special processing on the zero-crossing condition of the torque request. In addition, after the VCU receives the BCM torque request in the intelligent driving mode, it does not use the VCU's own torque filter module to process the requested torque, but directly outputs it to the MCU for execution. In other words, in the intelligent driving mode, the intelligent control system does not accurately control the zero-crossing condition that is prone to setbacks, which may result in frequent torque zero-crossing phenomena, reducing driving comfort and driving experience.

[0045] In view of the above problems, the present application proposes a torque control method and device. In the method, according to the requested torque at the first moment, it is judged whether the current working condition can avoid torque zero crossing. If it can, the requested torque at the second moment is used to control the vehicle torque, wherein the first moment and the second moment are adjacent moments, and the second moment is earlier than the first moment, thereby achieving the effect of reducing torque zero crossing and improving the intelligent driving experience.

[0046] The technical solution of the present application is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0047] In this application, the intelligent driving system is used as the execution subject to execute the torque control method of the following embodiments. Specifically, the execution subject may be a hardware device of the intelligent driving system, or a software application that implements the following embodiments in the intelligent driving system, or a computer-readable storage medium that has installed thereon the software application that implements the following embodiments, or a code that implements the software application that implements the following embodiments.

[0048] Figure 1 FIG. 1 is a flow chart of a torque control method provided by an embodiment of the present application. Figure 1 As shown, with the intelligent driving system as the execution subject, the method of this embodiment may include the following steps:

[0049] S101 : Obtain a requested torque at a first moment.

[0050] In this embodiment, the intelligent driving system can obtain the driver's torque request, vehicle status information, road condition information, etc. at the first moment, and comprehensively calculate the information according to the preset algorithm and logic to obtain the requested torque at the first moment.

[0051] S102 : Determine whether to activate the torque zero-crossing control strategy according to the requested torque at the first moment.

[0052] In this embodiment, the intelligent driving system can compare the requested torque at the first moment with a preset torque threshold. The torque threshold is usually set within a range close to zero torque to detect whether the requested torque is close to or crossing zero. If the requested torque at the first moment is close to or crossing zero, it can be determined whether the current working condition of the vehicle can be used without torque zero crossing. For example, if the current working condition of the vehicle indicates that the vehicle requires emergency braking, the torque must be zeroed according to the requested torque at the first moment to ensure safe driving of the vehicle. When not crossing the torque zero does not affect the safe driving of the vehicle, the vehicle torque can be controlled not to cross zero to reduce the number of torque zero crossings and reduce the occurrence of vehicle shaking, setbacks, and other phenomena.

[0053] S103 . When the torque zero-crossing control strategy is activated, the vehicle torque is controlled using the requested torque at the second moment.

[0054] In this embodiment, the first moment and the second moment are adjacent moments, and the second moment precedes the first moment. Activating the torque zero crossing control strategy indicates that the vehicle is currently in a working condition where the torque can be controlled without torque zero crossing. At this time, the requested torque at the second moment is used to control the vehicle torque, that is, the vehicle motor torque is kept unchanged.

[0055] The torque control method provided in this embodiment is a smart driving mode in which the smart driving system determines whether to activate the torque zero crossing control strategy based on the requested torque at the first moment, that is, determines whether the torque can be controlled not to exceed zero, and when it is determined that the torque can be controlled not to exceed zero, the requested torque at the second moment is used to control the vehicle torque, thereby ensuring that the torque remains unchanged under the premise of safe driving of the vehicle, reducing the number of torque zero crossings, and improving the smart driving experience.

[0056] Figure 2 FIG. 2 is a flow chart of another torque control method provided by an embodiment of the present application. Figure 1 Based on the example, Figure 2 As shown, the specific implementation of step S102 includes:

[0057] When the requested torque at the first moment and the requested torque at the second moment meet the following conditions and no emergency braking request is received, it is determined to activate the torque zero crossing control strategy. The conditions include:

[0058] Condition 1: opposite direction;

[0059] Condition 2: The absolute value of the difference is less than the preset torque value;

[0060] Condition 3: The requested torque at the first moment is greater than the driver requested torque.

[0061] Specifically, the requested torque at the first moment is opposite to the requested torque at the second moment, that is, the requested torques at adjacent moments are one positive and one negative, indicating that the requested torque is in the zero-crossing interval; the absolute value of the difference between the requested torque at the first moment and the requested torque at the second moment is less than the preset torque value, indicating that the vehicle is in a low dynamic area, that is, the vehicle has a low requirement for response speed and can avoid zero crossing; the requested torque at the first moment is greater than the driver's requested torque, and avoiding zero crossing will not affect the driver's experience. Among them, the driver's requested torque is the requested torque obtained through the accelerator pedal.

[0062] In this embodiment, when the intelligent driving system does not receive an emergency braking request, it determines whether the requested torque at the first moment enters the zero-crossing interval by the positive and negative requested torques at adjacent moments, and determines whether the requested torque at the first moment is in the low dynamic area by the torque request difference at adjacent moments. The low dynamic area is processed to avoid torque zero crossing, which improves driving comfort while avoiding the impact on the responsiveness of the high dynamic area.

[0063] It should be understood that if any of conditions 1, 2 and 3 is not met, or an emergency braking request is received, the intelligent driving system determines not to activate the torque zero control strategy, that is, to control the vehicle torque according to the requested torque at the first moment to ensure vehicle driving safety and driving experience.

[0064] In some embodiments, the specific implementation of step S101 includes:

[0065] S1011. Obtain an initial requested acceleration at a first moment.

[0066] Specifically, the requested acceleration may be acceleration in a positive direction or deceleration in a negative direction, and this embodiment does not impose any limitation on this.

[0067] The intelligent driving system can collect the vehicle's motion status data in real time through the acceleration sensor, such as the current vehicle speed, location information, and vehicle dynamic change information. Based on this data and possible driving intention recognition, such as steering wheel angle, accelerator pedal opening, etc., the intelligent driving system calculates the initial requested acceleration at the first moment through a preset algorithm or model.

[0068] S1012: Determine a target requested acceleration at the first moment according to the initial requested acceleration at the first moment and the requested acceleration at the second moment.

[0069] Specifically, after obtaining the initial requested acceleration at the first moment, the intelligent driving system will further consider the smooth transition of acceleration and the physical limitations of the vehicle, such as maximum acceleration, minimum acceleration, etc., to avoid sudden acceleration changes that adversely affect passenger comfort and vehicle safety. To this end, the intelligent driving system compares the initial requested acceleration at the first moment with the requested acceleration at the second moment, and adjusts the initial requested acceleration at the first moment according to the comparison result to obtain the target requested acceleration at the first moment, thereby avoiding sudden changes in vehicle acceleration and ensuring safe driving. For example, a filter (such as a Kalman filter, a low-pass filter, etc.) or a weighted average algorithm is used to fuse the initial requested acceleration at the first moment with the requested acceleration at the second moment to calculate a target requested acceleration at the first moment that is both consistent with the driving intention and relatively stable.

[0070] S1013 . Determine a requested torque at the first moment according to the target requested acceleration at the first moment.

[0071] Specifically, after determining the target requested acceleration at the first moment, the intelligent driving system can use the vehicle's dynamic model or torque mapping table to convert the acceleration value into the corresponding requested torque. This conversion process takes into account factors such as the vehicle's current weight distribution, tire friction coefficient, air resistance, and the torque output characteristics of the engine or motor. Based on these parameters and the preset algorithm, the intelligent driving system will calculate the precise torque value required to achieve the target acceleration.

[0072] In this embodiment, the intelligent driving system adjusts the requested acceleration at the first moment according to the requested acceleration at the second moment, thereby achieving accurate calculation of the requested acceleration at the first moment and accurate control of the vehicle power system, thereby meeting driving acceleration requirements while ensuring driving safety and comfort.

[0073] Optionally, a specific implementation method of step S1012 includes: when the initial requested acceleration at the first moment is in opposite directions to the requested acceleration at the second moment and both are less than a preset threshold, determining the target requested acceleration at the first moment according to the preset acceleration change slope and the requested acceleration at the second moment.

[0074] The initial requested acceleration at the first moment is in opposite directions to the requested acceleration at the second moment, indicating that the vehicle switches from an acceleration process to a deceleration process, or from a deceleration process to an acceleration process, and the acceleration needs to pass zero.

[0075] The initial acceleration request at the first moment and the acceleration request at the second moment are both less than the preset threshold. It should be understood that the acceleration direction is not considered here, and only the value is compared with the preset threshold. For example, the initial acceleration request at the first moment and the acceleration request at the second moment are both in the interval [-a, a], where a is in m / s 2 .

[0076] The target requested acceleration at the first moment is determined based on the preset acceleration change slope and the requested acceleration at the second moment, so as to limit the amplitude of the requested acceleration change and reduce the impact of the requested acceleration change on the vehicle transmission system, thereby improving driving comfort.

[0077] Optionally, the process of determining the preset threshold value of the requested acceleration includes: acquiring the vehicle speed at a first moment, and determining the preset threshold value according to the vehicle speed at the first moment.

[0078] In this embodiment, the preset threshold is determined according to the vehicle speed, indicating that at different vehicle speeds, the tolerance of the intelligent driving system to acceleration changes is different. Optionally, when the vehicle speed is fast, the acceleration change has a smaller impact on the overall motion, and the preset threshold can take a larger value. When the vehicle speed is slow, the acceleration change has a greater impact on the overall motion, and the preset threshold needs to take a smaller value.

[0079] Optionally, the intelligent driving system may call a mapping relationship table between the vehicle speed and the preset threshold value, and when the vehicle speed at the first moment is obtained, obtain the corresponding preset threshold value by looking up the table.

[0080] Based on the above embodiments, a supplementary explanation is given here.

[0081] The intelligent driving system may include ADMC, BCM, VCU and MCU. In the intelligent driving mode, for the zero-crossing condition that is prone to frustration, ADMC performs acceleration and deceleration zero-crossing slope control on the zero-crossing condition of the requested acceleration, and BCM identifies and processes the zero-crossing condition of the requested torque and the low dynamic area. Through the collaborative control method of ADMC reducing the zero-crossing rate and BCM avoiding specific zero-crossing conditions, the overall driving experience is improved without affecting the responsiveness of the high dynamic area. When the VCU receives the driving torque request and electric brake torque request from the BCM in the intelligent driving mode, the torque request is sent to the MCU, and the VCU does not perform torque filtering. From the acceleration and deceleration request of the ADMC, to the BCM torque conversion in the middle layer, and then to the torque request of the VCU at the drive execution end, the intelligent driving system collaboratively considers responsiveness and comfort, improves the comfort of intelligent driving without affecting responsiveness, and the driving experience of the switching process between intelligent driving and human driving. The torque control method of this application is at least applicable to L2-level intelligent driving systems.

[0082] Figure 3 FIG. 1 shows a schematic diagram of a torque control device provided by an embodiment of the present application. Figure 3 As shown, the torque control device 10 of this embodiment is used to implement the operation corresponding to the intelligent driving system in any of the above method embodiments. The torque control device 10 of this embodiment includes:

[0083] An acquisition module 11, used for acquiring a requested torque at a first moment;

[0084] A determination module 12, configured to determine whether to activate a torque zero-crossing control strategy according to a requested torque at a first moment;

[0085] The control module 13 is configured to control the vehicle torque by using the requested torque at a second moment when the torque zero-crossing control strategy is activated, wherein the first moment and the second moment are adjacent moments and the second moment is prior to the first moment.

[0086] The torque control device 10 provided in the embodiment of the present application can execute the above method embodiment. Its specific implementation principle and technical effects can be found in the above method embodiment, and this embodiment will not be repeated here.

[0087] Figure 4 FIG. 1 shows a hardware structure diagram of an electronic device provided in an embodiment of the present application. Figure 4 As shown, the electronic device 20 is used to implement the operations corresponding to the intelligent driving system in any of the above method embodiments. The electronic device 20 of this embodiment may include: a memory 21, a processor 22 and a communication interface 24.

[0088] The memory 21 is used to store computer programs. The memory 21 may include a high-speed random access memory (RAM), and may also include a non-volatile memory (NVM), such as at least one disk memory, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a disk, or an optical disk.

[0089] The processor 22 is used to execute the computer program stored in the memory to implement the method in the above embodiment. For details, please refer to the relevant description in the above method embodiment. The processor 22 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the invention can be directly embodied as being executed by a hardware processor, or can be executed by a combination of hardware and software modules in the processor.

[0090] Optionally, the memory 21 may be independent or integrated with the processor 22 .

[0091] When the memory 21 is a device independent of the processor 22, the electronic device 20 may further include a bus 23. The bus 23 is used to connect the memory 21 and the processor 22. The bus 23 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0092] The communication interface 24 may be connected to the processor 22 via the bus 23. The processor 22 may control the communication interface 24 to implement the functions of receiving and sending signals.

[0093] The electronic device 20 provided in this embodiment can be used to execute the above-mentioned torque control method, and its implementation method and technical effect are similar, which will not be described in detail in this embodiment.

[0094] The present application also provides a vehicle, comprising the electronic device in the aforementioned embodiment.

[0095] The present application also provides a computer-readable storage medium, in which a computer program / instruction is stored. When the computer program / instruction is executed by a processor, it is used to implement the methods provided in the various embodiments described above.

[0096] Among them, the computer-readable storage medium can be a computer storage medium or a communication medium. The communication medium includes any medium that is convenient for transmitting a computer program from one place to another. The computer storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer. For example, a computer-readable storage medium is coupled to a processor so that the processor can read information from the computer-readable storage medium and write information to the computer-readable storage medium. Of course, the computer-readable storage medium can also be a component of the processor. The processor and the computer-readable storage medium can be located in an application-specific integrated circuit (ASIC). In addition, the ASIC can be located in a user device. Of course, the processor and the computer-readable storage medium can also exist in a communication device as discrete components.

[0097] Specifically, the computer-readable storage medium may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The storage medium may be any available medium that can be accessed by a general or special-purpose computer.

[0098] The present application also provides a computer program product, which includes a computer program / instruction, and the computer program / instruction is stored in a computer-readable storage medium. At least one processor of the device can read the computer program / instruction from the computer-readable storage medium, and at least one processor executes the computer program / instruction so that the device implements the methods provided in the various embodiments described above.

[0099] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules 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 modules, which can be electrical, mechanical or other forms.

[0100] Among them, each module can be physically separated, for example, installed in different locations of a device, or installed on different devices, or distributed on multiple network units, or distributed on multiple processors. Each module can also be integrated together, for example, installed in the same device, or integrated in a set of codes. Each module can exist in the form of hardware, or can also exist in the form of software, or can also be implemented in the form of software plus hardware. The present application can select some or all of the modules according to actual needs to achieve the purpose of the present embodiment.

[0101] It should be understood that, although the various steps in the flowcharts in the above-described embodiments are sequentially displayed according to the indications of the arrows, these steps are not necessarily executed sequentially in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps is not strictly limited in order, and they can be executed in other orders. Moreover, at least a portion of the steps in the figure may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily to be carried out sequentially, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0102] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0103] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the above embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the above embodiments can still be modified, or some or all of the technical features can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A torque control method, characterized in that: The method comprises: Get the requested torque at the first moment; Determining whether to activate the torque zero-crossing control strategy according to the requested torque at the first moment; When the torque zero-crossing control strategy is activated, the vehicle torque is controlled using the requested torque at a second moment, wherein the first moment and the second moment are adjacent moments and the second moment is prior to the first moment.

2. The method according to claim 1, characterized in that Determining whether to activate the torque zero-crossing control strategy according to the requested torque at the first moment includes: When the requested torque at the first moment and the requested torque at the second moment meet the following conditions and no emergency braking request is received, determining to activate the torque zero-crossing control strategy; Condition 1: opposite direction; Condition 2: The absolute value of the difference is less than the preset torque value; Condition 3: The requested torque at the first moment is greater than the driver's requested torque.

3. The method according to claim 2, characterized in that Determining whether to activate the torque zero-crossing control strategy according to the requested torque at the first moment also includes: If any one of the conditions 1, 2 and 3 is not satisfied, the vehicle torque is controlled according to the request torque at the first moment.

4. The method according to any one of claims 1 to 3, characterized in that: Get the requested torque at the first moment, including: Get the initial requested acceleration at the first moment; Determining a target requested acceleration at the first moment according to the initial requested acceleration at the first moment and the requested acceleration at the second moment; The requested torque at the first moment is determined according to the target requested acceleration at the first moment.

5. The method according to claim 4, characterized in that Determining a target requested acceleration at the first moment according to the initial requested acceleration at the first moment and the requested acceleration at the second moment includes: When the initial requested acceleration at the first moment is in opposite directions to the requested acceleration at the second moment and both are less than a preset threshold, the target requested acceleration at the first moment is determined according to the preset acceleration change slope and the requested acceleration at the second moment.

6. The method according to claim 5, characterized in that The method further comprises: Get the vehicle speed at the first moment; The preset threshold is determined according to the vehicle speed at the first moment.

7. A torque control device, characterized in that: include: An acquisition module, used for acquiring a requested torque at a first moment; A determination module, configured to determine whether to activate a torque zero-crossing control strategy according to the requested torque at the first moment; A control module is used to control the vehicle torque using the requested torque at a second moment when the torque zero-crossing control strategy is activated, wherein the first moment and the second moment are adjacent moments and the second moment is prior to the first moment.

8. An electronic device, characterized in that: include: Memory and processor; The memory is used to store computer programs; The processor is used to execute the computer program stored in the memory to implement the torque control method as described in any one of claims 1-6.

9. A vehicle, characterized in that: The vehicle comprises the electronic device as claimed in claim 8.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the torque control method according to any one of claims 1 to 6 is implemented.

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