Motor torque control method and device, vehicle and storage medium

Abstract

The embodiment of the invention provides a motor torque control method and device, a vehicle and a storage medium. The method comprises the steps that firstly, the current working condition of the vehicle is determined; according to the current working condition of the vehicle, the maximum torque limit slope of the motor matched with the current working condition of the vehicle is determined; and finally, controlling the change rate of the maximum torque limit value of the motor according to the maximum torque limit value slope of the motor. It can be understood that the maximum torque limit slope of the motor matched with the current working condition can be determined according to the current working condition, then the maximum torque limit slope of the motor matched with the current working condition is adopted to control the output torque of the motor, and the overall performance of the vehicle is improved.

Description

Technical Field

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

[0002] A motor is usually a device that converts electrical energy into mechanical energy. It can provide power and energy for a vehicle and plays a vital role in the normal operation of the vehicle. Motor torque usually refers to the output torque of the motor. When the vehicle is in different working conditions, the output torque of the motor can be controlled to provide the vehicle with power and energy that matches the current working conditions, thereby ensuring the normal operation of the vehicle.

[0003] The maximum torque limit of the motor generally refers to the maximum torque value that the motor can generate during the operation of the vehicle. In practical applications, the maximum torque limit of the motor can limit the output range of the motor torque. Specifically, the larger the maximum torque limit of the motor, the larger the range of the motor torque that can be output; the smaller the maximum torque limit of the motor, the smaller the range of the motor torque that can be output.

[0004] The slope of the motor maximum torque limit is usually used to control the rate of change of the motor maximum torque limit. In the related art, the slope of the motor maximum torque limit is usually fixed, that is, under different working conditions, the same slope of the motor maximum torque limit is used to control the rate of change of the motor maximum torque limit. However, different working conditions may have different requirements for the slope of the motor maximum torque limit. If the working conditions do not match the slope of the motor maximum torque limit, the overall performance of the vehicle may be affected. For example, in neutral or when the motor fails, if the slope of the motor maximum torque limit is too large, it may cause the motor to shake or make abnormal noises.

[0005] It should be pointed out that the information disclosed in the background technology section of this application is only intended to deepen the understanding of the general background technology of this application, and should not be regarded as an admission or suggestion in any form that the information constitutes prior art already known to those skilled in the art. Summary of the invention

[0006] In view of this, the present application provides a motor torque control method, device, vehicle and storage medium to help solve the problem that the operating condition does not match the slope of the motor's maximum torque limit, which may affect the overall performance of the vehicle.

[0007] In a first aspect, an embodiment of the present application provides a motor torque control method, comprising:

[0008] Determine the current operating condition of the vehicle;

[0009] According to the current operating condition, determining a maximum torque limit slope of the motor that matches the current operating condition;

[0010] According to the slope of the maximum torque limit of the motor, the change rate of the maximum torque limit of the motor is controlled, and the maximum torque limit of the motor is used to control the output torque of the motor.

[0011] In an embodiment of the present application, the maximum torque limit slope of the motor that matches the current operating condition can be determined based on the current operating condition, and then the output torque of the motor can be controlled by using the maximum torque limit slope of the motor that matches the current operating condition to improve the overall performance of the vehicle.

[0012] In a possible implementation, the current operating condition includes a current gear position of the vehicle, and determining, according to the current operating condition, a slope of a maximum torque limit value of the motor that matches the current operating condition includes:

[0013] According to the current gear position, a maximum torque limit slope of the motor that matches the current gear position is determined.

[0014] In the embodiment of the present application, there is a close connection between the current gear of the vehicle and the overall performance of the vehicle, and the determination of the current gear does not require a complex analysis and calculation process. Therefore, according to the current gear, the maximum torque limit slope of the motor matching the current gear can be quickly determined.

[0015] In a possible implementation, determining, according to the current gear, a motor maximum torque limit slope that matches the current gear, includes:

[0016] If the current gear is a forward gear or a reverse gear, determining that the maximum torque limit slope of the motor matching the current gear is a first slope value;

[0017] If the current gear is neutral, determining that the slope of the maximum torque limit of the motor matching the current gear is a second slope value;

[0018] The first slope value is greater than the second slope value.

[0019] In an embodiment of the present application, if the current gear is neutral, the slope of the maximum torque limit of the motor can be reduced, and the slope of the maximum torque limit of the motor can be set to a second slope value. According to the second slope value, the change of the maximum torque limit of the motor can be slowed down, thereby avoiding the output torque of the motor from changing too quickly, making the transition of the motor torque smoother, and to a certain extent slowing down the motor jitter and reducing the abnormal noise of the motor. If the current gear is forward gear or reverse gear, the slope of the maximum torque limit of the motor can be set to the first slope value, and the first slope value can be used to control the rate of change of the maximum torque limit of the motor, thereby controlling the change of the output torque of the motor, which can improve the overall performance of the vehicle when it is in forward gear or reverse gear to a certain extent.

[0020] In a possible implementation, the current operating condition includes a maximum torque limit difference, where the maximum torque limit difference is a difference between the maximum torque limits of the motor at a previous moment and at a current moment, and determining, according to the current operating condition, a maximum torque limit slope of the motor that matches the current operating condition includes:

[0021] According to the maximum torque limit difference, a maximum torque limit slope of the motor matching the maximum torque limit difference is determined.

[0022] In an embodiment of the present application, the changes in the maximum torque limit of the motor of the vehicle can be monitored in real time by collecting the maximum torque limit of the motor at the previous moment and the current moment in real time, and the slope of the maximum torque limit of the motor can be adjusted in time.

[0023] In a possible implementation, determining, according to the maximum torque limit difference, a motor maximum torque limit slope that matches the maximum torque limit difference includes:

[0024] According to the maximum torque limit difference, determining the maximum torque limit slope of the motor that matches the maximum torque limit difference in a preset first slope comparison table;

[0025] The maximum torque limit difference is negatively correlated with the maximum torque limit slope of the motor.

[0026] In the embodiment of the present application, according to the first slope comparison table, the maximum torque limit slope of the motor that matches the maximum torque limit difference can be quickly found, saving time and cost. According to the maximum torque limit difference, the maximum torque limit slope of the motor that matches the maximum torque limit difference can be determined, and then the maximum torque limit slope of the motor that matches the maximum torque limit difference can be used to control the output torque of the motor, which can improve the overall performance of the vehicle to a certain extent.

[0027] In a possible implementation, the current operating condition includes a current vehicle speed and a maximum torque limit difference of the vehicle, the maximum torque limit difference is a difference between the maximum torque limits of the motor at a previous moment and at a current moment, and determining, according to the current operating condition, a maximum torque limit slope of the motor that matches the current operating condition includes:

[0028] According to the current vehicle speed and the maximum torque limit difference, a motor maximum torque limit slope matching the current vehicle speed and the maximum torque limit difference is determined.

[0029] In an embodiment of the present application, a more accurate slope of the motor maximum torque limit can be determined according to the current vehicle speed; based on the more accurate slope of the motor maximum torque limit, the output torque of the motor can be more accurately controlled, thereby improving the overall performance of the vehicle to a certain extent.

[0030] In a possible implementation, determining, according to the current vehicle speed and the maximum torque limit difference, a motor maximum torque limit slope that matches the current vehicle speed and the maximum torque limit difference includes:

[0031] According to the current vehicle speed and the maximum torque limit difference, a motor maximum torque limit slope that matches the current vehicle speed and the maximum torque limit difference is determined in a preset second slope comparison table.

[0032] In the embodiment of the present application, according to the second slope comparison table, a more accurate slope of the maximum torque limit of the motor can be quickly found, which saves time cost to a certain extent.

[0033] In a second aspect, an embodiment of the present application provides a motor torque control device, comprising:

[0034] A current operating condition determination module, used to determine the current operating condition of the vehicle;

[0035] A slope determination module, used to determine the maximum torque limit slope of the motor matching the current working condition according to the current working condition;

[0036] The motor torque control module is used to control the change rate of the motor maximum torque limit according to the slope of the motor maximum torque limit, and the motor maximum torque limit is used to control the output torque of the motor.

[0037] In a third aspect, an embodiment of the present application provides a vehicle, including:

[0038] A vehicle controller, wherein the vehicle controller is configured to execute the method described in any one of the first aspects.

[0039] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute any one of the methods described in the first aspect.

[0040] It is understandable that the motor torque control device provided in the second aspect, the vehicle provided in the third aspect, and the computer-readable storage medium provided in the fourth aspect are used to execute the method provided in the present application. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0042] Figure 1 A schematic diagram of an application scenario provided for an embodiment of the present application.

[0043] Figure 2 A flow chart of a motor torque control method provided in an embodiment of the present application.

[0044] Figure 3 A schematic diagram of the structure of a motor torque control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0045] In order to better understand the technical solution of the present application, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0046] It should be clear that the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0047] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0048] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0049] To facilitate understanding, a specific application scenario is first exemplified below.

[0050] See also Figure 1 , is a schematic diagram of an application scenario provided by an embodiment of the present application. Figure 1As shown, the vehicle 100 includes a motor 101 and a vehicle controller 102. The motor 101 can generally convert electrical energy into mechanical energy, and can be used to provide power and energy for the vehicle 100 to ensure the normal operation of the vehicle. The vehicle controller 102 can be used to obtain relevant data during vehicle operation according to a controller area network bus or a hard-wired signal, and can send relevant control instructions by analyzing and processing the relevant data, thereby controlling the operation of the motor.

[0051] Motor torque usually refers to the output torque of the motor. In practical applications, the vehicle controller can control the output torque of the motor through relevant control instructions, providing the vehicle with power and energy that matches the current working conditions, thereby ensuring the normal operation of the vehicle.

[0052] The maximum torque limit of the motor generally refers to the maximum torque value that the motor can generate during the operation of the vehicle. In practical applications, the maximum torque limit of the motor can be used to control the output torque of the motor. Specifically, the larger the maximum torque limit of the motor, the larger the range of the motor torque that can be output; the smaller the maximum torque limit of the motor, the smaller the range of the motor torque that can be output.

[0053] The slope of the motor maximum torque limit usually reflects the rate of change of the motor maximum torque limit. The magnitude of the motor maximum torque limit slope is usually positively correlated with the rate of change of the motor maximum torque limit. It can be understood that the larger the slope of the motor maximum torque limit, the greater the rate of change of the motor maximum torque limit (i.e., the motor maximum torque limit changes quickly); the smaller the slope of the motor maximum torque limit, the smaller the rate of change of the motor maximum torque limit (i.e., the motor maximum torque limit changes slowly).

[0054] However, in the related art, the slope of the motor maximum torque limit is usually fixed, that is, under different working conditions, the same motor maximum torque limit slope is used to control the rate of change of the motor maximum torque limit. However, different working conditions may have different requirements for the motor maximum torque limit slope. If the working conditions do not match the motor maximum torque limit slope, it may affect the overall performance of the vehicle. For example, in neutral or when the motor fails, if the motor maximum torque limit slope is too large, it may cause the motor to shake or make abnormal noises.

[0055] In view of the above problems, in the embodiment of the present application, the current working condition of the vehicle is first determined; then, according to the current working condition of the vehicle, the slope of the maximum torque limit of the motor matching the current working condition of the vehicle is determined; finally, according to the slope of the maximum torque limit of the motor, the rate of change of the maximum torque limit of the motor is controlled. In other words, the slope of the maximum torque limit of the motor matching the current working condition can be determined according to the current working condition, and then the output torque of the motor can be controlled by using the slope of the maximum torque limit of the motor matching the current working condition, thereby improving the overall performance of the vehicle.

[0056] Specifically, a detailed description is given below in conjunction with the accompanying drawings and specific embodiments.

[0057] See also Figure 2 , is a flow chart of a motor torque control method provided in an embodiment of the present application. The method can be applied to Figure 1 In the application scenario shown, Figure 2 As shown, it mainly includes the following steps.

[0058] Step S201: Determine the current operating condition of the vehicle.

[0059] In practical applications, the current working condition of the vehicle can be considered as the state information of the vehicle running to the current moment. For example, if the vehicle runs from moment t1 to moment t2, the current working condition of the vehicle is the state information of the vehicle at moment t2; if the vehicle runs from moment t2 to moment t3, the current working condition of the vehicle is the state information of the vehicle at moment t3; and so on, which will not be described in detail in the embodiments of the present application.

[0060] In an embodiment of the present application, the vehicle controller of the vehicle can determine the current operating condition of the vehicle through a controller area network bus or a hard-wired signal.

[0061] Step S202: According to the current working condition, determine the maximum torque limit slope of the motor that matches the current working condition.

[0062] In practical applications, there is a close connection between the current gear of the vehicle and the overall performance of the vehicle, and the determination of the current gear does not require complex analysis and calculation. Therefore, in a possible implementation, the maximum torque limit slope of the motor matching the current gear can be determined according to the current gear.

[0063] However, when the vehicle is switched to neutral, the original maximum torque limit slope of the motor may be large, which may cause the maximum torque limit of the motor to change too quickly, thereby causing the output torque of the motor to change too quickly. When the output torque of the motor changes too quickly, the mechanical parts inside the motor may be subjected to greater pressure and impact, which may increase the vibration and friction of the mechanical parts, causing the motor to shake or make abnormal noises.

[0064] Therefore, in a possible implementation, if the current gear is neutral, the slope of the motor maximum torque limit value that matches the current gear is determined to be a second slope value.

[0065] For ease of explanation, the maximum torque limit slope of the motor when the vehicle is in neutral is set to the second slope value, and the maximum torque limit slope of the motor when the vehicle is in other gears (forward gear, reverse gear or parking gear, etc.) is set to the first slope value.

[0066] The first slope value is greater than the second slope value. It can be understood that when the vehicle adopts the first slope value, the maximum torque limit of the motor changes faster; when the vehicle adopts the second slope value, the maximum torque limit of the motor changes slower.

[0067] In the embodiment of the present application, when the vehicle is switched to neutral gear, the slope of the motor maximum torque limit can be reduced and the slope of the motor maximum torque limit can be set to a second slope value. According to the second slope value, the change of the motor maximum torque limit can be slowed down, thereby avoiding the motor output torque from changing too fast, making the transition of the motor torque smoother, slowing down the motor vibration to a certain extent, and reducing the abnormal noise of the motor.

[0068] In order to improve the overall performance of the vehicle and the user's driving experience, in a possible implementation, if the current gear is a forward gear or a reverse gear, the slope of the maximum torque limit of the motor matching the current gear is determined to be a first slope value.

[0069] In practical applications, the rate of change of the maximum torque limit of the motor can be controlled according to the first slope value, thereby controlling the output torque of the motor, which can improve the overall performance of the vehicle when it is in the forward gear or reverse gear to a certain extent.

[0070] In an embodiment of the present application, based on the current gear, the slope of the motor's maximum torque limit that matches the current gear can be quickly determined, and then the output torque of the motor can be controlled based on the slope of the motor's maximum torque limit that matches the current gear, which can quickly improve the overall performance of the vehicle in the current gear to a certain extent.

[0071] However, in actual applications, it may be necessary to monitor the current working condition of the vehicle in real time and adjust the slope of the motor maximum torque limit in a timely manner. For example, the motor may fail during vehicle operation. Since the time when the motor fails cannot be predicted in advance, it may be necessary to monitor the current working condition of the vehicle in real time and expect to adjust the slope of the motor maximum torque limit in a timely manner.

[0072] Specifically, in a possible implementation, the motor maximum torque limit slope matching the maximum torque limit difference may be determined according to the maximum torque limit difference, wherein the maximum torque limit difference is the difference between the motor maximum torque limit at the previous moment and the current moment.

[0073] In practical applications, the vehicle controller of the vehicle can collect the maximum torque limit of the motor at a preset time interval. In order to determine the maximum torque limit difference, a relevant calculation unit can be set in the relevant control module. When the relevant control module receives the relevant calculation instruction, the maximum torque limit difference can be output through the relevant calculation unit. Of course, those skilled in the art can also determine the maximum torque limit difference in other ways according to actual needs, and this application does not make specific restrictions on this.

[0074] As described above, after determining the maximum torque limit difference, it is also necessary to determine the maximum torque limit slope of the motor that matches the maximum torque limit difference. In a possible implementation, according to the maximum torque limit difference, the maximum torque limit slope of the motor that matches the maximum torque limit difference is determined in a preset first slope comparison table.

[0075] In the embodiment of the present application, the first slope comparison table is a correspondence table between the maximum torque limit difference and the maximum torque limit slope of the motor.

[0076] However, in some application scenarios, it may be desirable to use a smaller motor maximum torque limit slope. For example, when a motor fails, if the motor maximum torque limit slope is too large, it may cause the motor maximum torque limit to change too quickly. Since the motor maximum torque limit can indirectly affect the motor's output torque, a too fast change in the motor maximum torque limit may cause the motor's output torque to change too quickly, which may cause the motor to vibrate and make abnormal noises.

[0077] In other application scenarios, it may be desirable to use a larger motor maximum torque limit slope. For example, when the vehicle starts or accelerates, if the motor maximum torque limit slope is too small, it may cause the motor maximum torque limit to change too slowly. Since the motor maximum torque limit can indirectly affect the motor's output torque, if the motor maximum torque limit changes too slowly, it may cause the motor's output torque to change too slowly, which may in turn fail to meet the vehicle's driving requirements.

[0078] Therefore, in a possible implementation, the maximum torque limit difference is negatively correlated with the motor maximum torque limit slope. It can be understood that the larger the maximum torque limit difference is, the smaller the corresponding motor maximum torque limit slope is.

[0079] In an embodiment of the present application, based on the correspondence between the maximum torque limit difference and the maximum torque limit slope of the motor, the maximum torque limit slope of the motor that matches the maximum torque limit difference can be determined, and then the output torque of the motor can be controlled, which can improve the overall performance of the vehicle to a certain extent.

[0080] In practical applications, the first slope comparison table can be pre-stored in the relevant storage module. When the vehicle controller of the vehicle issues a relevant query instruction, the first slope comparison table can be called to find the motor maximum torque limit slope that matches the maximum torque limit difference in the first slope comparison table. According to the first slope comparison table, the motor maximum torque limit slope that matches the maximum torque limit difference can be quickly found, saving time and cost.

[0081] In an embodiment of the present application, by collecting the maximum torque limit of the motor at the previous moment and the current moment in real time, the change of the maximum torque limit of the motor of the vehicle can be monitored in real time, and then the slope of the maximum torque limit of the motor can be adjusted in real time.

[0082] In practical applications, in order to determine a more accurate maximum torque limit slope of the motor, in a possible implementation, according to the difference between the current vehicle speed and the maximum torque limit, a maximum torque limit slope of the motor that matches the difference between the current vehicle speed and the maximum torque limit is determined. In other words, the current speed of the vehicle can be collected in real time by the sensor, and a more accurate maximum torque limit slope of the motor can be determined using the current speed of the vehicle.

[0083] In an embodiment of the present application, in order to quickly query the motor maximum torque limit slope that matches the current vehicle speed and the maximum torque limit difference, in a possible implementation method, based on the current vehicle speed and the maximum torque limit difference, the motor maximum torque limit slope that matches the current vehicle speed and the maximum torque limit difference is determined in a preset second slope comparison table.

[0084] The second slope comparison table is a table of correspondence between the current vehicle speed and the maximum torque limit difference and the motor maximum torque limit slope. For example, the correspondence between the current vehicle speed and the maximum torque limit difference and the motor maximum torque limit slope is shown in Table 1. It can be understood that the motor maximum torque limit slope corresponding to the current vehicle speed X1km / h and the maximum torque limit difference Y1Nm is Z 11 Similarly, the maximum torque limit of the motor corresponding to the current vehicle speed X2km / h and the maximum torque limit difference Y1Nm is Z 21 ; And so on, the embodiments of the present application will not be described in detail.

[0085] Table 1:

[0086]

[0087] It should be noted that the above table is only an exemplary description of the correspondence between the current vehicle speed and the difference between the maximum torque limit and the slope of the motor maximum torque limit. In practical applications, those skilled in the art can set other correspondences between the current vehicle speed and the difference between the maximum torque limit and the slope of the motor maximum torque limit. For example, a correspondence curve between the current vehicle speed and the difference between the maximum torque limit and the slope of the motor maximum torque limit or a correspondence model between the current vehicle speed and the difference between the maximum torque limit and the slope of the motor maximum torque limit, etc.

[0088] In practical applications, the second slope comparison table can be pre-stored in the relevant storage module. When the vehicle controller of the vehicle issues a relevant query instruction, the second slope comparison table can be called to find the motor maximum torque limit slope that matches the current vehicle speed and the maximum torque limit difference in the second slope comparison table.

[0089] In the embodiment of the present application, according to the current vehicle speed and the maximum torque limit difference, a more accurate motor maximum torque limit slope can be quickly found in the second slope comparison table, saving time cost. According to the more accurate motor maximum torque limit slope, the output torque of the motor of the vehicle under the current vehicle speed and the maximum torque limit difference can be more accurately controlled, further improving the overall performance of the vehicle.

[0090] Step S203: controlling the rate of change of the maximum torque limit of the motor according to the slope of the maximum torque limit of the motor.

[0091] In an embodiment of the present application, the current operating condition of the vehicle can be determined first; then, based on the current operating condition of the vehicle, the slope of the motor maximum torque limit that matches the current operating condition of the vehicle can be determined; finally, the motor maximum torque limit slope that matches the current operating condition is used to control the output torque of the motor to improve the overall performance of the vehicle.

[0092] Corresponding to the above method embodiment, the present application also provides a motor torque control device. Figure 3 , is a schematic diagram of the structure of a motor torque control device provided in an embodiment of the present application. The motor torque control device 300 includes: a current working condition determination module 301 , a slope determination module 302 and a motor torque control module 303 .

[0093] Specifically, the current operating condition determination module 301 is used to determine the current operating condition of the vehicle; the slope determination module 302 is used to determine the motor maximum torque limit slope that matches the current operating condition based on the current operating condition; the motor torque control module 303 is used to control the rate of change of the motor maximum torque limit based on the motor maximum torque limit slope, and the motor maximum torque limit is used to control the output torque of the motor.

[0094] The specific contents involved in the examples in the implementation of this application can be found in the description of the above method embodiments. For the sake of brevity, they will not be repeated here.

[0095] Corresponding to the above method embodiment, the present application also provides a vehicle, including:

[0096] The vehicle controller is configured to execute the method described in the above method embodiment.

[0097] The specific contents involved in the examples in the implementation of this application can be found in the description of the above method embodiments. For the sake of brevity, they will not be repeated here.

[0098] Corresponding to the above method embodiments, the present application also provides a computer storage medium, wherein the computer storage medium may store a program, and when the program is executed, the program may include some or all of the steps in each embodiment of the simulation scene generation method provided by the present invention. The storage medium may be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0099] The specific contents involved in the examples in the implementation of this application can be found in the description of the above method embodiments. For the sake of brevity, they will not be repeated here.

[0100] In the embodiments of the present application, "at least one" refers to one or more, and "plurality" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent the existence of A alone, the existence of A and B at the same time, and the existence of B alone. Among them, A and B can be singular or plural. The character " / " generally indicates that the previous and subsequent associated objects are in an "or" relationship. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b and c can be represented by: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0101] Those of ordinary skill in the art will appreciate that the various units and algorithm steps described in the embodiments disclosed herein can be implemented in a combination of electronic hardware, computer software, and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0102] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0103] In several embodiments provided in the present application, any function can be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as an independent product. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., and other media that can store program codes.

[0104] In this specification, the same or similar parts between the various embodiments can be referred to each other. In particular, for the device embodiment and the terminal embodiment, since they are basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description in the method embodiment.

Claims

1. A motor torque control method, characterized in that: include: Determine the current operating condition of the vehicle; According to the current operating condition, determining a maximum torque limit slope of the motor that matches the current operating condition; According to the slope of the maximum torque limit of the motor, the change rate of the maximum torque limit of the motor is controlled, and the maximum torque limit of the motor is used to control the output torque of the motor.

2. The method according to claim 1, characterized in that The current operating condition includes a current gear position of the vehicle, and determining, according to the current operating condition, a slope of a maximum torque limit value of the motor that matches the current operating condition includes: According to the current gear position, a maximum torque limit slope of the motor that matches the current gear position is determined.

3. The method according to claim 2, characterized in that The step of determining the maximum torque limit slope of the motor that matches the current gear position according to the current gear position includes: If the current gear is a forward gear or a reverse gear, determining that the maximum torque limit slope of the motor matching the current gear is a first slope value; If the current gear is neutral, determining that the slope of the maximum torque limit of the motor matching the current gear is a second slope value; The first slope value is greater than the second slope value.

4. The method according to claim 1, characterized in that: The current operating condition includes a maximum torque limit difference, where the maximum torque limit difference is a difference between the maximum torque limits of the motor at a previous moment and at a current moment. Determining the maximum torque limit slope of the motor matching the current operating condition according to the current operating condition includes: According to the maximum torque limit difference, a maximum torque limit slope of the motor matching the maximum torque limit difference is determined.

5. The method according to claim 4, characterized in that The step of determining, according to the maximum torque limit difference, a maximum torque limit slope of the motor that matches the maximum torque limit difference comprises: According to the maximum torque limit difference, determining the maximum torque limit slope of the motor that matches the maximum torque limit difference in a preset first slope comparison table; The maximum torque limit difference is negatively correlated with the maximum torque limit slope of the motor.

6. The method according to claim 1, characterized in that The current operating condition includes the current vehicle speed and the maximum torque limit difference of the vehicle, the maximum torque limit difference is the difference between the maximum torque limits of the motor at the previous moment and the current moment, and determining the maximum torque limit slope of the motor matching the current operating condition according to the current operating condition includes: According to the current vehicle speed and the maximum torque limit difference, a motor maximum torque limit slope matching the current vehicle speed and the maximum torque limit difference is determined.

7. The method according to claim 6, characterized in that The determining, according to the current vehicle speed and the maximum torque limit difference, a motor maximum torque limit slope that matches the current vehicle speed and the maximum torque limit difference, comprises: According to the current vehicle speed and the maximum torque limit difference, a motor maximum torque limit slope that matches the current vehicle speed and the maximum torque limit difference is determined in a preset second slope comparison table.

8. A motor torque control device, characterized in that: include: A current operating condition determination module, used to determine the current operating condition of the vehicle; A slope determination module, used to determine the maximum torque limit slope of the motor matching the current working condition according to the current working condition; The motor torque control module is used to control the change rate of the motor maximum torque limit according to the slope of the motor maximum torque limit, and the motor maximum torque limit is used to control the output torque of the motor.

9. A vehicle, characterized in that: include: A vehicle controller, wherein the vehicle controller is configured to execute the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method according to any one of claims 1 to 7.

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