Torque control method and device, storage medium, gearbox controller and vehicle

Abstract

The embodiment of the application provides a torque control method and device, a storage medium, a gearbox controller and a vehicle, the method comprises the following steps: acquiring first vehicle information at a first time point in real time, the first vehicle information comprising a first engine speed, a first turbine speed, a first accelerator pedal opening degree, a first engine output torque and a first engine water temperature; calculating an engine predicted speed at a second time point in real time, wherein the first time point is a past time point, and the second time point is a current time point; determining a vehicle working condition type based on the engine predicted speed at the second time point and the first vehicle information at the first time point; and intervening in the engine torque based on a torque intervention strategy matched with the vehicle working condition type. By combining the calculated engine predicted speed with the collected first vehicle information to determine the vehicle working condition type, the problem of body shaking caused by inaccurate intervention value acquisition can be overcome, which is caused by the problem that the torque intervention value is obtained by simply looking up the table according to the detected engine speed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a torque control method and device, a storage medium, a gearbox controller and a vehicle. BACKGROUND

[0002] Currently, some automatic gear fuel vehicles or multi-gear hybrid vehicles equipped with a hydraulic torque converter have limited damping system capacity. When the vehicle speed is low, the vehicle may shake after coasting and then stepping on the accelerator. The shaking phenomenon will be more obvious when the accelerator is stepped on harder. The reason is that the hydraulic torque converter has a torque increasing effect before coupling. Therefore, the developer generally sets the coupling clutch to be opened at a low vehicle speed. At this time, the engine speed and the turbine speed are out of sync due to the working characteristics of the hydraulic torque converter. If the engine speed is smaller than the turbine speed, the engine speed will rise under the action of the engine output torque when the driver steps on the accelerator. In this case, the engine speed will quickly exceed the turbine speed. Similarly, this phenomenon will also occur when the vehicle speed and the torque decrease in the non-coupling working area after the accelerator is released. In the torque reverse transmission working condition of the hydraulic torque converter, the transient impulse size of the turbine output torque switching in the opposite direction will cause the vehicle to shake. The greater the slope of the engine speed passing through the turbine speed, the greater the vehicle shaking. Figure 1 As shown in FIG. 1, the general control means mainly depends on a simple linear lookup table to obtain a torque intervention value to request to reduce the engine torque when the engine speed is greater than the turbine speed, so as to slow down the engine speed rise slope and solve the vehicle shaking in the torque reverse transmission condition. The current solution provided by some algorithms has hysteresis, insufficient control means, insufficient power output and poor driving perception in the continuous dynamic driving process. SUMMARY

[0003] The torque control method and device, the storage medium, the gearbox controller and the vehicle provided by the present application embodiment can obtain first vehicle information at a first time in real time, and then calculate a predicted engine speed at a second time in real time. The vehicle working condition type is determined by the predicted engine speed and the first vehicle information, which can overcome the problem of vehicle shaking caused by inaccurate torque intervention value obtained by detecting the engine speed and performing simple lookup table.

[0004] In a first aspect, an embodiment of the present application provides a torque control method applied to a gearbox controller, the method comprising: acquiring first vehicle information at a first time point in real time, the first vehicle information comprising a first engine speed, a first turbine speed, a first accelerator pedal opening degree, a first engine output torque, and a first engine water temperature; calculating an engine predicted speed at a second time point in real time, wherein the first time point is a past time point, and the second time point is a current time point; determining a vehicle working condition type based on the engine predicted speed at the second time point and the first vehicle information at the first time point; and intervening in the engine torque based on a torque intervention strategy matched with the vehicle working condition type.

[0005] In a possible implementation, the calculating the engine predicted speed at the second time point in real time comprises: acquiring second vehicle information at the first time point, the second vehicle information comprising a second engine speed, a vehicle speed, and a second accelerator pedal opening degree; inputting the second vehicle information into a pre-designed calculation model, and acquiring an engine predicted speed output by the calculation model.

[0006] In a possible implementation, the determining the vehicle working condition type based on the engine predicted speed at the second time point and the first vehicle information at the first time point comprises: when the engine predicted speed is greater than the first turbine speed, the first engine speed is less than the first turbine speed, and the first accelerator pedal opening degree is greater than a set opening degree, determining that the vehicle working condition is a first working condition; and when the engine predicted speed is less than the first turbine speed, the first engine speed is greater than the first turbine speed, and the first accelerator pedal opening degree is less than the set opening degree, determining that the vehicle working condition is a second working condition.

[0007] In a possible implementation, the intervening in the engine torque based on the torque intervention strategy matched with the vehicle working condition information comprises: when the vehicle working condition type is the first working condition, intervening in the engine torque based on a first torque intervention strategy, wherein the first torque intervention strategy comprises: acquiring a corresponding first torque calibration value by table lookup based on the first vehicle information, reducing the engine output torque to the first torque calibration value and keeping for a first time length; and when it is detected that the first engine speed is greater than the first turbine speed, acquiring a corresponding second torque calibration value by table lookup based on the first vehicle information, increasing the engine output torque to the first torque calibration value and keeping for a second time length.

[0008] In a possible implementation, the intervention on the engine torque based on the torque intervention strategy matched with the vehicle working condition information comprises: when the vehicle working condition type is the second working condition, intervening on the engine torque based on a second torque intervention strategy, wherein the second torque intervention strategy comprises: obtaining a corresponding third torque calibration value through table lookup based on the first vehicle information, increasing the engine output torque to the third torque calibration value and maintaining for a third time length.

[0009] In a second aspect, an embodiment of the present application provides a torque control device, comprising: an acquisition unit configured to acquire first vehicle information at a first time in real time, the first vehicle information comprising a first engine speed, a first turbine speed, a first accelerator pedal opening degree and a first engine output torque; a calculation unit configured to calculate an engine predicted speed at a second time in real time, wherein the first time is a past time, and the second time is a current time; a working condition detection unit configured to determine a vehicle working condition type based on the engine predicted speed at the second time and the first vehicle information at the first time; and a torque intervention unit configured to intervene on the engine torque based on a torque intervention strategy matched with the vehicle working condition type.

[0010] In a possible implementation, the calculation unit comprises a pre-designed calculation model, and the calculation unit calculates the engine predicted speed at the second time in real time by: acquiring second vehicle information at the first time, the second vehicle information comprising a second engine speed, a vehicle speed and a second accelerator pedal opening degree; inputting the second vehicle information into the pre-designed calculation model, and obtaining the engine predicted speed output by the calculation model.

[0011] In a possible implementation, the determination of the vehicle working condition type based on the engine predicted speed at the second time and the first vehicle information at the first time comprises: when the working condition detection unit determines that the engine predicted speed is greater than the first turbine speed, the first engine speed is less than the first turbine speed, and the first accelerator pedal opening degree is greater than a set opening degree, determining that the vehicle working condition is a first working condition; and when the working condition detection unit determines that the engine predicted speed is less than the first turbine speed, the first engine speed is greater than the first turbine speed, and the first accelerator pedal opening degree is less than a set opening degree, determining that the vehicle working condition is a second working condition.

[0012] In a possible implementation manner, the torque intervention unit intervenes in the engine torque based on the torque intervention strategy matched with the vehicle working condition information, and the intervention includes: when the vehicle working condition type is a first working condition, the torque intervention unit intervenes in the engine torque based on a first torque intervention strategy, where the first torque intervention strategy includes: obtaining a corresponding first torque calibration value by table lookup based on the first vehicle information, reducing the engine output torque to the first torque calibration value and keeping for a first time length; and when it is detected that the first engine speed is greater than the first turbine speed, obtaining a corresponding second torque calibration value by table lookup based on the first vehicle information, increasing the engine output torque to the first torque calibration value and keeping for a second time length; when the vehicle working condition type is a second working condition, the torque intervention unit intervenes in the engine torque based on a second torque intervention strategy, where the second torque intervention strategy includes: obtaining a corresponding third torque calibration value by table lookup based on the first vehicle information, increasing the engine output torque to the third torque calibration value and keeping for a third time length.

[0013] In a third aspect, an embodiment of the present application further provides a torque control device, including: a processor and a memory, the memory is used to store at least one instruction, the instruction is loaded and executed by the processor, and the torque control method provided in the first aspect is realized.

[0014] In a fourth aspect, an embodiment of the present application further provides a computer readable storage medium, and the computer readable storage medium stores a computer program, and the computer program is executed by a processor to realize the torque control method provided in the first aspect.

[0015] In a fifth aspect, an embodiment of the present application further provides a gearbox controller, and the gearbox controller includes the torque control device provided in the third aspect.

[0016] In a sixth aspect, an embodiment of the present application further provides a vehicle, and the vehicle includes the gearbox controller provided in the fifth aspect.

[0017] Through the above technical solution, in the vehicle running process, the gearbox controller acquires the first vehicle information at a first time, including a first engine speed, a first turbine speed, a first accelerator pedal opening degree and a first engine output torque; the gearbox controller also calculates a predicted engine speed at a future time (a second time) in real time, and then based on the predicted engine speed and the vehicle working condition type of the first vehicle information, the data in two dimensions of the predicted data (the predicted engine speed) and the detected data (the first vehicle information) are combined for confirmation when the vehicle working condition type is detected, the data accuracy is improved, and then the torque intervention accuracy and effectiveness can be improved, and the vehicle jitter problem is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0019] Figure 1 Torque control method flowchart provided by an embodiment of the present application;

[0020] Figure 2 Torque control method flowchart provided by an embodiment of the present application;

[0021] Figure 3 Torque control method flowchart provided by an embodiment of the present application;

[0022] Figure 4 Torque control method flowchart provided by an embodiment of the present application; DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the following will combine the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without any creative effort fall within the scope of protection of the present application.

[0024] Figure 2 Torque control method flowchart provided by an embodiment of the present application;

[0025] Referring to Figure 2 , the torque control method can include the following steps:

[0026] S201: Real-time acquisition of first vehicle information at a first time, wherein the first vehicle information includes a first engine speed, a first turbine speed, a first accelerator pedal opening, a first engine output torque and a first engine water temperature.

[0027] In some embodiments, the first vehicle information at the first time point can be acquired in real time during driving of the vehicle, and specifically, the first vehicle information can include a first engine speed, a first turbine speed, a first accelerator pedal opening degree, a first engine output torque, and a first engine water temperature. In an implementation, the first time point is a past time point, and the first time point can be a time point that is separated from a current time point by a preset time interval, which can be adaptively set based on a speed of confirming a torque intervention value by the transmission controller, and for example, when the transmission controller can confirm the torque intervention value within 50 ms based on the torque control method provided in the present application, the preset time interval can be set as 50 ms, i.e., the first time point is a past time point that is separated from the current time point by 50 ms. In other implementations, the preset time interval can also be set based on other manners, which are not limited in the present application.

[0028] For the convenience of understanding the present solution, the first time point is understood as K-1 time point, i.e., the engine speed Ne (unit: rpm), the turbine speed Nt (unit: rpm), the accelerator pedal opening degree Pos (unit: %), and the engine output torque (unit: N·M) at the K-1 time point can be acquired in real time.

[0029] In some embodiments, the transmission controller can acquire the engine speed Ne (unit: rpm), the turbine speed Nt (unit: rpm), the accelerator pedal opening degree Pos (unit: %), and the engine output torque (unit: N·M) at the K-1 time point through Controller Area Network (CAN) signal information.

[0030] S202: Real-time calculation of an engine predicted speed at a second time point, wherein the first time point is a past time point, and the second time point is a current time point.

[0031] In some embodiments, while the first vehicle information at the first time point is acquired in real time, the engine predicted speed at the second time point can also be calculated in real time in parallel, wherein the second time point is the current time point, i.e., the engine predicted speed at the current time point is calculated, and the engine predicted speed is a predicted value calculated by a calculation model.

[0032] For the convenience of understanding the present solution, the second time point is understood as K time point, i.e., the engine predicted speed at the K time point is calculated in real time. In some embodiments, the calculation of the engine predicted speed at the K time point can include: acquiring second vehicle information at the second time point, the second vehicle information including a second engine speed, a driving speed, and a second accelerator pedal opening degree, inputting the second vehicle information into a pre-designed calculation model, and acquiring an engine predicted speed output by the calculation model.

[0033] In some embodiments, the calculation model can calculate the engine predicted speed based on the following formula:

[0034] X(k) - = AX(k-1) + Bu(k-1) + w(k) Formula One

[0035] wherein X(k-1) represents the predicted system state at k-1 time, wherein the system state includes the first engine speed, the first vehicle speed, and the first driving distance, A represents the transition matrix of the calculation model, a simplified expression of modeling, which is the matrix relationship between the first vehicle speed, the first engine speed, and the first driving distance, B represents the control matrix of the calculation model, some normalized parameters simplified in the modeling process, such as the moment of inertia * speed ratio, which is the moment of inertia * speed ratio * first / (first mass * first wheel radius). u(k-1) represents the control input of the preset model, such as the force size changing with time, which is the first demand torque calculated reversely from the first accelerator pedal, X(k) - represents the first system state predicted at k-1 time, and w(k) represents the system process noise at k time.

[0036] When calculating the predicted system state at k-1 time, the engine speed, the vehicle speed, and the driving distance can be used as input parameters for calculation, so as to obtain the predicted system state at k-1 time through Formula One.

[0037] Z(k) = HX(k) + v(k) Formula Two

[0038] wherein Z(k) represents the measurement value at k time, which can include the second engine speed, the vehicle speed, and the second driving distance at the second time, X(k) represents the system state at k time, H represents the measurement system parameter, including the relationship matrix of the second engine speed, the vehicle speed, and the second driving distance at the second time, and v(k) represents the measurement error at k time.

[0039] P(k) - = FP(k-1) F T + Q Formula Three

[0040] wherein P(k) - represents the system process variance at k-1 time, F represents the transition matrix of the calculation model, a simplified expression of modeling, which is the matrix relationship between the first vehicle speed, the first engine speed, and the first driving distance, F T represents the matrix transpose, and Q represents the process noise variance.

[0041] K g (k) = P(k) - H T (HP(k) -H T +R) -1 Equation Four

[0042] wherein K g (k) represents Kalman filtering gain, P(k) - represents system process variance at k-1 time, H T represents matrix transposition, H represents measurement system parameter, including the relationship matrix of the second engine speed, the driving speed and the second driving distance at the second time, and R represents measurement noise variance.

[0043] X(k)=X(k) - +K g (k)(Z(k)-X(k) - )Equation Five

[0044] wherein X(k) represents the predicted system state at k time, X(k-1) represents the predicted system state at k-1 time, K g (k) represents Kalman filtering gain, Z(k) represents the measurement value at k time, which can include the second engine speed, the driving speed and the second driving distance at the second time.

[0045] P(k)=(1-K g (k)H)P(k) - )Equation Six

[0046] wherein P(k) represents K system process variance, K g (k) represents Kalman filtering gain, H represents measurement system parameter, including the relationship matrix of the second engine speed, the driving speed and the second driving distance at the second time, and P(k) - represents system process variance at k-1 time.

[0047] In some embodiments, the system process variance P(k) at the current time can be calculated after the completion of each round of engine predicted speed calculation, and used as the system process variance P(k) - at k-1 time in the next round of engine predicted speed calculation.

[0048] S203: determining the vehicle working condition type based on the engine predicted speed at the second time and the first vehicle information at the first time.

[0049] In some embodiments, after the first engine speed, the first turbine speed, and the first throttle pedal opening at the K-1 moment are acquired in real time through S201, and the engine predicted speed at the K moment is calculated through S202, the engine predicted speed and the first turbine speed are compared, the first engine speed and the first turbine speed are compared, and the first throttle pedal opening and the set opening are compared, and then the vehicle working condition type is determined according to the comparison results.

[0050] When the engine predicted speed is greater than the first turbine speed, the first engine speed is less than the first turbine speed, and the first throttle pedal opening is greater than the set opening, it is determined that the vehicle working condition is the first working condition (intervention working condition 1).

[0051] When the engine predicted speed is less than the first turbine speed, the first engine speed is greater than the first turbine speed, and the first throttle pedal opening is less than the set opening, it is determined that the vehicle working condition is the second working condition (intervention working condition 2).

[0052] S204: Intervene in the engine torque based on the torque intervention strategy matched with the vehicle working condition type.

[0053] Figure 3 The torque intervention mode provided for an embodiment of the present application is shown in the figure.

[0054] Referring to Figure 3 When the vehicle working condition type is the first working condition, the engine torque can be intervened based on the first torque intervention strategy, and the output torque can be first reduced and then increased. Specifically, the first torque intervention strategy includes: acquiring a corresponding first torque calibration value based on the first vehicle information (i.e., the first engine speed, the first turbine speed, the first throttle pedal opening, the first engine output torque, and the first engine water temperature) through a lookup table, reducing the engine output torque to the first torque calibration value and maintaining for a first time length; and when it is detected that the first engine speed is greater than the first turbine speed, acquiring a corresponding second torque calibration value based on the first vehicle information through a lookup table, and increasing the engine output torque to the first torque calibration value and maintaining for a second time length.

[0055] Referring to Figure 3 When the vehicle working condition type is the second working condition, the engine torque can be intervened based on the second torque intervention strategy, wherein the second torque intervention strategy includes: acquiring a corresponding third torque calibration value based on the first vehicle information through a lookup table, and increasing the engine output torque to the third torque calibration value and maintaining for a third time length.

[0056] The torque control method provided by the embodiment of the application can be used in the process of vehicle driving, especially for a hybrid power multi-gear automobile, a transmission controller is used as a main controller to acquire CAN signal information such as engine speed, accelerator pedal opening degree, engine output torque, identify the vehicle working condition type, and perform torque intervention based on the corresponding intervention strategy in different working conditions, so that the technical effect of faster intervention and more flexible control mode is achieved.

[0057] The embodiment of the application further provides a torque control device, which can include an acquisition unit configured to acquire first vehicle information at a first time point in real time, the first vehicle information including a first engine speed, a first turbine speed, a first accelerator pedal opening degree, and a first engine output torque; a calculation unit configured to calculate an engine predicted speed at a second time point in real time, wherein the first time point is a past time point, and the second time point is a current time point; a working condition detection unit configured to determine a vehicle working condition type based on the engine predicted speed at the second time point and the first vehicle information at the first time point; and a torque intervention unit configured to intervene in engine torque based on a torque intervention strategy matched with the vehicle working condition type.

[0058] In some embodiments, the calculation unit includes a pre-designed calculation model, and the calculation unit calculates the engine predicted speed at the second time point in real time by acquiring second vehicle information at the first time point, the second vehicle information including a second engine speed, a driving speed, and a second accelerator pedal opening degree; inputting the second vehicle information into the pre-designed calculation model, and acquiring the engine predicted speed output by the calculation model.

[0059] In some embodiments, the determination of the vehicle working condition type based on the engine predicted speed at the second time point and the first vehicle information at the first time point includes: when the working condition detection unit determines that the engine predicted speed is greater than the first turbine speed, the first engine speed is less than the first turbine speed, and the first accelerator pedal opening degree is greater than a set opening degree, the vehicle working condition is determined to be a first working condition; and when the working condition detection unit determines that the engine predicted speed is less than the first turbine speed, the first engine speed is greater than the first turbine speed, and the first accelerator pedal opening degree is less than the set opening degree, the vehicle working condition is determined to be a second working condition.

[0060] In some embodiments, the torque intervention unit intervening the engine torque based on the torque intervention strategy matched with the vehicle working condition information comprises: when the vehicle working condition type is a first working condition, the torque intervention unit intervening the engine torque based on a first torque intervention strategy, wherein the first torque intervention strategy comprises: obtaining a corresponding first torque calibration value through table lookup based on first vehicle information, reducing the engine output torque to the first torque calibration value and maintaining for a first time length; and when the first engine speed is greater than a first turbine speed, obtaining a corresponding second torque calibration value through table lookup based on the first vehicle information, increasing the engine output torque to the first torque calibration value and maintaining for a second time length; when the vehicle working condition type is a second working condition, the torque intervention unit intervening the engine torque based on a second torque intervention strategy, wherein the second torque intervention strategy comprises: obtaining a corresponding third torque calibration value through table lookup based on the first vehicle information, increasing the engine output torque to the third torque calibration value and maintaining for a third time length.

[0061] Figure 4 A torque control device structure diagram is provided for an embodiment of the present application.

[0062] Referring to Figure 4 The device can include a processor 401 and a memory 402, the memory 402 being configured to store at least one instruction, the instruction being loaded and executed by the processor 401 to implement the torque control method provided by any embodiment of the present application.

[0063] The present application also provides a computer readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the torque control method provided by any embodiment of the present application.

[0064] The present application also provides a gearbox controller, the gearbox controller comprising Figure 4 The torque control device provided by the embodiment shown.

[0065] The present application also provides a vehicle, which can include the gearbox controller described above.

[0066] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system, device and unit described above can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0067] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other manners. For example, the described device embodiments are merely schematic. The division of the units is merely logical function division. There can be another division manner for the actual implementation, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, devices or units, and can be electrical, mechanical or in other forms.

[0068] The units described as separated components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purposes of the embodiments of the present application.

[0069] In addition, each functional unit in the embodiments of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be implemented in the form of hardware, or in the form of hardware plus software function units.

[0070] The integrated unit implemented in the form of software function units can be stored in a computer readable storage medium. The software function unit stored in the storage medium includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (Processor) to perform some steps of the methods described in the embodiments of the present application. The aforementioned storage medium includes a variety of media that can store program codes, such as a U disk, a mobile hard disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a magnetic disk or an optical disk.

[0071] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of protection of the present application.

[0072] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A torque control method characterized by, The method is applied to a gearbox controller, and the method comprises: real-time acquisition of first vehicle information at a first time, the first vehicle information comprising a first engine speed, a first turbine speed, a first accelerator pedal opening degree, and a first engine output torque and a first engine water temperature; real-time calculation of an engine predicted speed at a second time, wherein the first time is a past time, and the second time is a current time; determination of a vehicle working condition type based on the engine predicted speed at the second time and the first vehicle information at the first time; intervention in engine torque based on a torque intervention strategy matched with the vehicle working condition type; the real-time calculation of the engine predicted speed at the second time comprises: acquisition of second vehicle information at the first time, the second vehicle information comprising a second engine speed, a vehicle speed, and a second accelerator pedal opening degree; input of the second vehicle information into a pre-designed calculation model, and acquisition of an engine predicted speed output by the calculation model; the determination of the vehicle working condition type based on the engine predicted speed at the second time and the first vehicle information at the first time comprises: when the engine predicted speed is greater than the first turbine speed, the first engine speed is less than the first turbine speed, and the first accelerator pedal opening degree is greater than a set opening degree, the vehicle working condition is determined to be a first working condition; when the engine predicted speed is less than the first turbine speed, the first engine speed is greater than the first turbine speed, and the first accelerator pedal opening degree is less than the set opening degree, the vehicle working condition is determined to be a second working condition.

2. The method of claim 1, wherein, the intervention in the engine torque based on the torque intervention strategy matched with the vehicle working condition information comprises: when the vehicle working condition type is the first working condition, intervention in the engine torque based on a first torque intervention strategy, wherein the first torque intervention strategy comprises: acquisition of a corresponding first torque calibration value based on the first vehicle information through a lookup table, reduction of the engine output torque to the first torque calibration value and maintenance for a first time length; and when it is detected that the first engine speed is greater than the first turbine speed, acquisition of a corresponding second torque calibration value based on the first vehicle information through the lookup table, increase of the engine output torque to the first torque calibration value and maintenance for a second time length.

3. The method according to claim 1 or 2, characterized in that, the intervention in the engine torque based on the torque intervention strategy matched with the vehicle working condition information comprises: when the vehicle working condition type is the second working condition, intervention in the engine torque based on a second torque intervention strategy, wherein the second torque intervention strategy comprises: acquisition of a corresponding third torque calibration value based on the first vehicle information through the lookup table, increase of the engine output torque to the third torque calibration value and maintenance for a third time length.

4. A torque control device characterized by comprising: the device comprises: an acquisition unit configured to acquire first vehicle information at a first time in real time, the first vehicle information comprising a first engine speed, a first turbine speed, a first accelerator pedal opening degree, and a first engine output torque; a calculation unit configured to calculate an engine predicted speed at a second time in real time, wherein the first time is a past time, and the second time is a current time; and The working condition detection unit is configured to determine a vehicle working condition type based on the engine predicted speed at the second time and the first vehicle information at the first time; and The torque intervention unit is configured to intervene in the engine torque based on a torque intervention strategy matched with the vehicle working condition type. The calculation unit includes a pre-designed calculation model, and the calculation unit is configured to calculate the engine predicted speed at the second time in real time, including: obtaining second vehicle information at the first time, the second vehicle information including a second engine speed, a driving speed, and a second accelerator pedal opening degree; inputting the second vehicle information into the pre-designed calculation model and obtaining the engine predicted speed output by the calculation model; The determination of the vehicle working condition type based on the engine predicted speed at the second time and the first vehicle information at the first time includes: when the working condition detection unit determines that the engine predicted speed is greater than the first turbine speed, the first engine speed is less than the first turbine speed, and the first accelerator pedal opening degree is greater than a set opening degree, the vehicle working condition is determined as a first working condition; when the working condition detection unit determines that the engine predicted speed is less than the first turbine speed, the first engine speed is greater than the first turbine speed, and the first accelerator pedal opening degree is less than a set opening degree, the vehicle working condition is determined as a second working condition.

5. The apparatus of claim 4, wherein, The intervention of the torque intervention unit in the engine torque based on the torque intervention strategy matched with the vehicle working condition information includes: when the vehicle working condition type is the first working condition, the torque intervention unit intervenes in the engine torque based on a first torque intervention strategy, wherein the first torque intervention strategy includes: obtaining a corresponding first torque calibration value based on the first vehicle information through a lookup table, reducing the engine output torque to the first torque calibration value and maintaining for a first time length; and when it is detected that the first engine speed is greater than the first turbine speed, obtaining a corresponding second torque calibration value based on the first vehicle information through a lookup table, increasing the engine output torque to the first torque calibration value and maintaining for a second time length; when the vehicle working condition type is the second working condition, the torque intervention unit intervenes in the engine torque based on a second torque intervention strategy, wherein the second torque intervention strategy includes: obtaining a corresponding third torque calibration value based on the first vehicle information through a lookup table, increasing the engine output torque to the third torque calibration value and maintaining for a third time length.

6. A torque control device characterized by comprising: The device includes: a processor and a memory, the memory being configured to store at least one instruction, the instruction being loaded and executed by the processor to implement the torque control method according to any one of claims 1-3.

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