A motor torque control method and device, a vehicle and a storage medium

Abstract

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

Description

TECHNICAL FIELD

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

[0002] The motor is generally a device for converting electrical energy into mechanical energy, which can provide power and energy for the vehicle and plays a crucial role in the normal operation of the vehicle. The motor torque generally 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 power and energy matching the current working condition for the vehicle, thereby ensuring the normal operation of the vehicle.

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

[0004] The motor maximum torque limit slope is generally used to control the rate of change of the motor maximum torque limit. In related technologies, the motor maximum torque limit slope is generally fixed, that is, the same motor maximum torque limit slope is used to control the rate of change of the motor maximum torque limit in different working conditions. However, different working conditions may have different requirements for the motor maximum torque limit slope. If the working condition does not match the motor maximum torque limit slope, it may affect the overall performance of the vehicle. For example, when the vehicle is in neutral or the motor fails, if the motor maximum torque limit slope is too large, it may cause the motor to vibrate or make noise.

[0005] It should be noted that the information disclosed in the background section of the present application is only intended to deepen the understanding of the general background of the present application, and should not be regarded as acknowledging or implying in any form that the information constitutes prior art known to those skilled in the art. SUMMARY

[0006] Therefore, the present application provides a motor torque control method and device, a vehicle and a storage medium to solve the problem that the working condition does not match the motor maximum torque limit slope, 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] determining a current working condition of a vehicle;

[0009] determining a motor maximum torque limit slope matching the current working condition according to the current working condition;

[0010] According to the motor maximum torque limit value slope, a variation rate of the motor maximum torque limit value is controlled, the motor maximum torque limit value being used to control an output torque of the motor.

[0011] In the embodiments of the present application, the motor maximum torque limit value slope matched with 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 motor maximum torque limit value slope matched with the current working condition, so that the overall performance of the vehicle is improved.

[0012] In a possible implementation, the current working condition includes a current gear of the vehicle, and the motor maximum torque limit value slope matched with the current working condition is determined according to the current working condition, including:

[0013] According to the current gear, the motor maximum torque limit value slope matched with the current gear is determined.

[0014] In the embodiments of the present application, the current gear of the vehicle is closely related to the overall performance of the vehicle, and the current gear is determined without a complex analysis and calculation process. Therefore, the motor maximum torque limit value slope matched with the current gear can be quickly determined according to the current gear.

[0015] In a possible implementation, the motor maximum torque limit value slope matched with the current gear is determined according to the current gear, including:

[0016] If the current gear is a forward gear or a reverse gear, the motor maximum torque limit value slope matched with the current gear is determined as a first slope value.

[0017] If the current gear is a neutral gear, the motor maximum torque limit value slope matched with the current gear is determined as a second slope value.

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

[0019] In the embodiments of the present application, if the current gear is a neutral gear, the motor maximum torque limit value slope can be reduced, and the motor maximum torque limit value slope is set as the second slope value. According to the second slope value, the variation of the motor maximum torque limit value can be slowed down, so that the output torque of the motor can be prevented from changing too fast, the transition of the motor torque is smoother, the motor vibration is slowed down to a certain extent, and the motor abnormal noise is reduced. If the current gear is a forward gear or a reverse gear, the motor maximum torque limit value slope can be set as the first slope value, the variation rate of the motor maximum torque limit value can be controlled by using the first slope value, and then the output torque of the motor is controlled, so that the overall performance of the vehicle in the forward gear or the reverse gear is improved to a certain extent.

[0020] In a possible implementation, the current working condition includes a maximum torque limit difference value, the maximum torque limit difference value being a difference between a maximum torque limit value of the motor at a previous time and a maximum torque limit value of the motor at a current time, and the determining, according to the current working condition, of the motor maximum torque limit value slope matched with the current working condition includes:

[0021] determining, according to the maximum torque limit difference value, the motor maximum torque limit value slope matched with the maximum torque limit difference value.

[0022] In the embodiments of the present application, the maximum torque limit values of the motor at the previous time and the current time can be collected in real time, the change of the maximum torque limit value of the motor of the vehicle can be monitored in real time, and then the motor maximum torque limit value slope can be adjusted in time.

[0023] In a possible implementation, the determining, according to the maximum torque limit difference value, of the motor maximum torque limit value slope matched with the maximum torque limit difference value includes:

[0024] determining, according to the maximum torque limit difference value, the motor maximum torque limit value slope matched with the maximum torque limit difference value in a preset first slope reference table.

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

[0026] In the embodiments of the present application, according to the first slope reference table, the motor maximum torque limit value slope matched with the maximum torque limit difference value can be quickly found, and the time cost can be saved. According to the maximum torque limit difference value, the motor maximum torque limit value slope matched with the maximum torque limit difference value can be determined, and then the motor maximum torque limit value slope matched with the maximum torque limit difference value 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 working condition includes a current vehicle speed of the vehicle and a maximum torque limit difference value, the maximum torque limit difference value being a difference between a maximum torque limit value of the motor at a previous time and a maximum torque limit value of the motor at a current time, and the determining, according to the current working condition, of the motor maximum torque limit value slope matched with the current working condition includes:

[0028] determining, according to the current vehicle speed and the maximum torque limit difference value, the motor maximum torque limit value slope matched with the current vehicle speed and the maximum torque limit difference value.

[0029] In the embodiments of the present application, a more accurate motor maximum torque limit value slope can be determined according to the current vehicle speed, and the output torque of the motor can be more accurately controlled according to the more accurate motor maximum torque limit value slope, which can improve the overall performance of the vehicle to a certain extent.

[0030] In a possible implementation, the determining, according to the current vehicle speed and the maximum torque limit difference, of the motor maximum torque limit slope matched with the current vehicle speed and the maximum torque limit difference comprises:

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

[0032] In the embodiments of the present application, according to the second slope reference table, a more accurate motor maximum torque limit slope can be quickly found, and time cost is saved to a certain extent.

[0033] In a second aspect, the embodiments of the present application provide a motor torque control device, comprising:

[0034] a current working condition determining module configured to determine a current working condition of a vehicle;

[0035] a slope determining module configured to determine, according to the current working condition, a motor maximum torque limit slope matched with the current working condition;

[0036] a motor torque control module configured to control a rate of change of a motor maximum torque limit according to the motor maximum torque limit slope, the motor maximum torque limit being used to control an output torque of a motor.

[0037] In a third aspect, the embodiments of the present application provide a vehicle, comprising:

[0038] a vehicle control unit configured to execute the method in any one of the first aspect.

[0039] In a fourth aspect, the embodiments of the present application provide a computer readable storage medium, comprising a stored program, wherein the program controls a device where the computer readable storage medium is located to execute the method in any one of the first aspect when the program is running.

[0040] It can be understood 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 are referred to the beneficial effects in the corresponding method, which will not be described here. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can be obtained based on these drawings without creative labor.

[0042] Figure 1 An application scenario schematic diagram provided by the embodiments of the present application.

[0043] Figure 2 A flowchart of a motor torque control method provided by the embodiments of the present application.

[0044] Figure 3 A structural schematic diagram of a motor torque control device provided by the embodiments of the present application. DETAILED DESCRIPTION

[0045] In order to better understand the technical solutions of the present application, the embodiments of the present application will be described in detail below with reference to the drawings.

[0046] It should be clear that the described embodiments are only 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 creative labor fall 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 the specific embodiments, and are not intended to limit the present application. The singular forms "a", "an" and "the" used in the embodiments of the present application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0048] It should be understood that the term "and / or" used herein is only to describe the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " in this paper generally represents that the front and rear associated objects are a "or" relationship.

[0049] In order to facilitate understanding, the specific application scenario will be described first by way of example as follows.

[0050] Referring to Figure 1 An application scenario schematic diagram provided by the embodiments of the present application. As shown in FIG. 1, the application scenario provided by the embodiments of the present application is a motor torque control system. 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 normal operation of the vehicle. The vehicle controller 102 can be used to obtain relevant data of the vehicle during 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] The motor torque generally refers to the output torque of the motor. In actual application, the vehicle controller can control the output torque of the motor through relevant control instructions to provide power and energy matching the current working condition for the vehicle, thereby ensuring normal operation of the vehicle.

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

[0053] The motor maximum torque limit slope generally reflects the rate of change of the motor maximum torque limit. The size of the motor maximum torque limit slope is generally positively correlated with the rate of change of the motor maximum torque limit. Understandably, the greater the motor maximum torque limit slope, the greater the rate of change of the motor maximum torque limit (i.e., the motor maximum torque limit changes fast); the smaller the motor maximum torque limit slope, the smaller the rate of change of the motor maximum torque limit (i.e., the motor maximum torque limit changes slowly).

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

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

[0056] Specifically, the detailed description is made below in combination with the drawings and specific embodiments.

[0057] Referring to Figure 2 A flowchart of a motor torque control method provided by an embodiment of the present application is shown. The method can be applied to Figure 1 application scenarios shown in FIG. 1, such as Figure 2 and mainly includes the following steps.

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

[0059] In actual application, the current operating condition of the vehicle can be considered as the state information of the vehicle at the current time. For example, the vehicle runs from t1 to t2, the current operating condition of the vehicle is the state information of the vehicle at t2; the vehicle runs from t2 to t3, the current operating condition of the vehicle is the state information of the vehicle at t3; and so on, which will not be described herein.

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

[0061] Step S202: According to the current operating condition, determine the motor maximum torque limit value slope matched with the current operating condition.

[0062] In actual application, the current gear of the vehicle is closely related to the overall performance of the vehicle, and the determination of the current gear does not need to go through complex analysis and calculation. Therefore, in a possible implementation manner, the motor maximum torque limit value slope matched with the current gear can be determined according to the current gear.

[0063] However, when the vehicle switches to the neutral gear, the original motor maximum torque limit value slope can be too large, which can cause the motor maximum torque limit value to change too fast, and further cause the output torque of the motor to change too fast. When the output torque of the motor changes too fast, the mechanical components inside the motor can be subjected to greater pressure and impact, thereby increasing the vibration and friction of the mechanical components, causing the motor to vibrate or make noise.

[0064] Therefore, in a possible implementation manner, if the current gear is the neutral gear, the motor maximum torque limit value slope matched with the current gear is determined as the second slope value.

[0065] For ease of description, the motor maximum torque limit value slope when the vehicle is in the neutral gear is set as the second slope value, and the motor maximum torque limit value slope when the vehicle is in other gears (forward gear, reverse gear or parking gear, etc.) is set as 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 value of the motor changes faster; when the vehicle adopts the second slope value, the maximum torque limit value of the motor changes slower.

[0067] In the embodiment of the present application, when the vehicle switches to neutral, the slope of the maximum torque limit value of the motor can be reduced, and the slope of the maximum torque limit value of the motor is set to the second slope value. According to the second slope value, the change of the maximum torque limit value of the motor can be slowed down, thereby avoiding the change of the output torque of the motor being too fast, making the transition of the motor torque smoother, and to some extent, reducing the motor vibration and reducing the motor abnormal sound.

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

[0069] In actual application, the rate of change of the maximum torque limit value of the motor can be controlled according to the first slope value, and the output torque of the motor is controlled, which can improve the overall performance of the vehicle in the forward gear or the reverse gear to some extent.

[0070] In the embodiment of the present application, according to the current gear, the slope of the maximum torque limit value of the motor matched with the current gear can be quickly determined, and the output torque of the motor can be controlled according to the slope of the maximum torque limit value of the motor matched with the current gear, which can improve the overall performance of the vehicle in the current gear to some extent.

[0071] However, in actual application, it may be necessary to monitor the current working condition of the vehicle in real time and adjust the slope of the maximum torque limit value of the motor in time. For example, during the operation of the vehicle, the motor may fail. Since the time of motor failure cannot be predicted in advance, it may be necessary to monitor the current working condition of the vehicle in real time and adjust the slope of the maximum torque limit value of the motor in time.

[0072] Specifically, in a possible implementation, the slope of the maximum torque limit value of the motor matched with the maximum torque limit value difference can be determined according to the maximum torque limit value difference. The maximum torque limit value difference is the difference between the maximum torque limit value of the motor at the last moment and the current moment.

[0073] In actual applications, the vehicle controller can collect the maximum torque limit value of the motor at preset time intervals. In order to determine the maximum torque limit value difference, a related calculation unit can be provided in the related control module, and when the related control module receives a related calculation instruction, the maximum torque limit value difference can be output through the related calculation unit. Of course, those skilled in the art can also determine the maximum torque limit value difference through other ways according to actual needs, and the present application does not make specific limitations in this regard.

[0074] As described above, after determining the maximum torque limit value difference, the motor maximum torque limit value slope matched with the maximum torque limit value difference also needs to be determined. In a possible implementation, according to the maximum torque limit value difference, the motor maximum torque limit value slope matched with the maximum torque limit value difference is determined in a preset first slope reference table.

[0075] In the embodiments of the present application, the first slope reference table is a corresponding relationship table of the maximum torque limit value difference and the motor maximum torque limit value slope.

[0076] However, in some application scenarios, it can be desirable to use a smaller motor maximum torque limit value slope. For example, when the motor fails, if the motor maximum torque limit value slope is too large, it can cause the motor maximum torque limit value to change too quickly. Since the motor maximum torque limit value can indirectly affect the output torque of the motor, the motor maximum torque limit value changing too quickly can cause the output torque of the motor to change too quickly, which can in turn cause the motor to vibrate and make noise.

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

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

[0079] In the embodiments of the present application, according to the corresponding relationship between the maximum torque limit value difference and the motor maximum torque limit value slope, the motor maximum torque limit value slope matched with the maximum torque limit value difference can be determined, and the output torque of the motor can be controlled, which can improve the overall performance of the vehicle to a certain extent.

[0080] In actual application, the first slope reference table can be pre-stored in the related storage module. When the vehicle controller issues a related query instruction, the first slope reference table can be called to find the motor maximum torque limit slope matching the maximum torque limit difference in the first slope reference table. According to the first slope reference table, the motor maximum torque limit slope matching the maximum torque limit difference can be quickly found, saving time cost.

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

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

[0083] In the embodiment of the present application, in order to quickly query the motor maximum torque limit slope matching the current vehicle speed and the maximum torque limit difference, in a possible implementation, the motor maximum torque limit slope matching the current vehicle speed and the maximum torque limit difference is determined in the preset second slope reference table according to the current vehicle speed and the maximum torque limit difference.

[0084] The second slope reference table is a corresponding relationship table of the current vehicle speed and the maximum torque limit difference and the motor maximum torque limit slope. For example, the corresponding relationship of 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 X1 km / h and the maximum torque limit difference Y1 Nm is Z 11 ; similarly, the motor maximum torque limit slope corresponding to the current vehicle speed X2 km / h and the maximum torque limit difference Y1 Nm is Z 21 ; and so on, which will not be described hereinafter.

[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 maximum torque limit difference and the maximum torque limit slope of the motor. In actual application, the person skilled in the art can set other correspondence between the current vehicle speed and the maximum torque limit difference and the maximum torque limit slope of the motor. For example, a correspondence curve between the current vehicle speed and the maximum torque limit difference and the maximum torque limit slope of the motor or a correspondence model between the current vehicle speed and the maximum torque limit difference and the maximum torque limit slope of the motor.

[0088] In actual application, the second slope reference table can be pre-stored in a related storage module. When the vehicle controller issues a related query instruction, the second slope reference table can be called to find the maximum torque limit slope of the motor matching the current vehicle speed and the maximum torque limit difference in the second slope reference table.

[0089] In the embodiment of the present application, according to the current vehicle speed and the maximum torque limit difference, the more accurate maximum torque limit slope of the motor can be quickly found in the second slope reference table, saving time cost. According to the more accurate maximum torque limit slope of the motor, the output torque of the motor at 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 change rate of the maximum torque limit of the motor according to the maximum torque limit slope of the motor.

[0091] In the embodiment of the present application, the current working condition of the vehicle can be determined first, then the maximum torque limit slope of the motor matching the current working condition of the vehicle can be determined according to the current working condition of the vehicle, and finally the output torque of the motor is controlled by using the maximum torque limit slope of the motor matching the current working condition, improving the overall performance of the vehicle.

[0092] Corresponding to the above method embodiment, the present application also provides a motor torque control device. Referring to Figure 3 A structure diagram of a motor torque control device provided by the embodiment of the present application. The motor torque control device 300 comprises a current working condition determination module 301, a slope determination module 302 and a motor torque control module 303.

[0093] Specifically, the current working condition determination module 301 is configured to determine the current working condition of the vehicle, the slope determination module 302 is configured to determine the maximum torque limit slope of the motor matching the current working condition according to the current working condition, and the motor torque control module 303 is configured to control the change rate of the maximum torque limit of the motor according to the maximum torque limit slope of the motor, the maximum torque limit of the motor being used to control the output torque of the motor.

[0094] Specific contents involved in the embodiments of the application can be referred to the description in the above method embodiments, and will not be repeated here for brevity.

[0095] Corresponding to the above method embodiments, the application further provides a vehicle, comprising:

[0096] a vehicle controller, the vehicle controller being configured to perform the method described in the above method embodiments.

[0097] Specific contents involved in the embodiments of the application can be referred to the description in the above method embodiments, and will not be repeated here for brevity.

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

[0099] Specific contents involved in the embodiments of the application can be referred to the description in the above method embodiments, and will not be repeated here for brevity.

[0100] In the embodiments of the application, "at least one" means one or more, and "multiple" means two or more. The "and / or" describes the association relationship of the associated objects, which means that there can be three kinds of relationships, for example, A and / or B, which can represent the cases of A alone, A and B together, and B alone. Wherein A and B can be singular or plural. The character " / " generally represents an "or" relationship between the front and rear associated objects. "At least one of the following" and the like means any combination of these items, including any combination of single or multiple items. For example, at least one of a, b and c can represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, and c can be single or multiple.

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

[0102] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the system, device and unit described above can refer to the corresponding processes in the foregoing method embodiments, and will not be described here.

[0103] In several embodiments provided in the present application, any function, if realized in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the parts of the technical solutions that make contributions to the prior art or the parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0104] The same and similar parts among the various embodiments in the specification can be referred to each other. Especially, for the device embodiments and the terminal embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can refer to the description in the method embodiments.

Claims

1. A method for controlling motor torque, characterized in that, include: Determine the current operating condition of the vehicle; Based on the current operating conditions, determine the slope of the maximum torque limit of the motor that matches the current operating conditions; Based on the slope of the maximum torque limit of the motor, the rate of change 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. The current operating condition includes the vehicle's current gear. Determining the maximum torque limit slope of the motor that matches the current operating condition includes: Based on the current gear, determine the slope of the maximum torque limit of the motor that matches the current gear; The step of determining the maximum torque limit slope of the motor that matches the current gear position includes: If the current gear is a forward gear or a reverse gear, then the slope of the maximum torque limit of the motor that matches the current gear is determined to be the first slope value. If the current gear is neutral, then the slope of the maximum torque limit of the motor that matches the current gear is determined to be the second slope value. Wherein, the first slope value is greater than the second slope value.

2. A method for controlling motor torque, characterized in that, include: Determine the current operating condition of the vehicle; Based on the current operating conditions, determine the slope of the maximum torque limit of the motor that matches the current operating conditions; Based on the slope of the maximum torque limit of the motor, the rate of change 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. The current operating condition includes the maximum torque limit difference, which is the difference between the motor's maximum torque limit at the previous moment and the current moment. Determining the maximum torque limit slope of the motor that matches the current operating condition includes: Based on the difference in maximum torque limits, determine the slope of the maximum torque limit of the motor that matches the difference in maximum torque limits; The step of determining the maximum torque limit slope of the motor that matches the maximum torque limit difference based on the maximum torque limit difference includes: Based on the maximum torque limit difference, a maximum torque limit slope of the motor that matches the maximum torque limit difference is determined in a preset first slope comparison table; The difference in the maximum torque limit is negatively correlated with the slope of the maximum torque limit of the motor.

3. A method for controlling motor torque, characterized in that, include: Determine the current operating condition of the vehicle; Based on the current operating conditions, determine the slope of the maximum torque limit of the motor that matches the current operating conditions; Based on the slope of the maximum torque limit of the motor, the rate of change 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. The current operating condition includes the vehicle's current speed and the difference between the maximum torque limit and the maximum torque limit. The difference between the maximum torque limit and the maximum torque limit of the motor is the difference between the previous moment and the current moment. Determining the maximum torque limit slope of the motor that matches the current operating condition includes: Based on the difference between the current vehicle speed and the maximum torque limit, determine the maximum torque limit slope of the motor that matches the difference between the current vehicle speed and the maximum torque limit; The step of determining the maximum torque limit slope of the motor that matches the difference between the current vehicle speed and the maximum torque limit based on the difference between the current vehicle speed and the maximum torque limit includes: Based on the difference between the current vehicle speed and the maximum torque limit, a maximum torque limit slope that matches the difference between the current vehicle speed and the maximum torque limit is determined in a preset second slope comparison table.

4. A motor torque control device, characterized in that, The apparatus is configured to perform the method according to any one of claims 1 to 3.

5. A vehicle, characterized in that, include: A vehicle controller configured to perform the method according to any one of claims 1 to 3.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the method according to any one of claims 1 to 3.

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