Motor torque control method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a motor torque control method and device, electronic equipment and a storage medium. The method comprises the steps that firstly, whether the current gear state of a vehicle is matched with the preset gear state or not is judged; when the current gear state is matched with the preset gear state, a motor output torque slope limit value is determined according to the current vehicle speed of the vehicle and a first torque slope table; and finally, controlling the output torque value of the motor according to the motor output torque slope limit value. It can be understood that the first torque slope table is used for representing the corresponding relation between the vehicle speed and the maximum output torque slope of the motor in the zero-crossing jumping process of the output torque value of the motor, so that the torque slope limiting value better conforming to the current working condition can be determined according to the first torque slope table, and then the vehicle running smoothness under the special working condition is improved; and finally, the power performance of the vehicle and the user experience are improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and specifically to a motor torque control method, device, electronic device 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. 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] When the working condition of the vehicle changes, it is often accompanied by a zero-crossing jump in the motor output torque. When the motor output torque crosses zero, the motor gears often collide due to inertia, causing the vehicle to produce greater noise and vibration. In response to the above problems, in the related technology, different filter parameters are used for control according to different motor output torque change directions and ranges to prevent torque mutations from causing impacts on the entire vehicle. Specifically, the upper / lower limit of the slope of the motor output torque in the zero-crossing area is set to prevent torque mutations.

[0004] However, under some special working conditions (for example, switching between forward gear and reverse gear when the vehicle speed is not zero), only considering setting the rising / falling slope limit for the zero-crossing interval of the motor output torque, the vehicle's motor gears will still experience a more violent collision, which will cause the vehicle to produce greater noise and vibration, ultimately affecting the vehicle's power performance and the user's driving experience.

[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, electronic device and storage medium, so as to solve the problem in the prior art that under some special working conditions (for example, switching between forward gear and reverse gear when the vehicle speed is not zero), only considering setting the rising / falling slope limit for the zero-crossing interval of the motor output torque, the motor gears of the vehicle will still experience a relatively violent collision, thereby causing the vehicle to generate greater noise and vibration, ultimately affecting the vehicle's power performance and the user's driving experience.

[0007] In a first aspect, an embodiment of the present application provides a method for controlling motor torque, comprising: Determining whether the current gear state of the vehicle matches a preset gear state, wherein the preset gear state is used to represent the state of switching between the forward gear and the reverse gear; When the current gear state matches the preset gear state, determining the motor output torque slope limit value according to the current vehicle speed and a first torque slope table, wherein the first torque slope table is used to characterize the correspondence between the vehicle speed and the maximum motor output torque slope during the zero-crossing jump of the motor output torque value; The output torque value of the motor is controlled according to the motor output torque slope limit value.

[0008] In the embodiment of the present application, first determine whether the current gear state of the vehicle matches the preset gear state; when the current gear state matches the preset gear state, determine the motor output torque slope limit according to the current vehicle speed and the first torque slope table; finally, control the motor output torque value according to the motor output torque slope limit. It can be understood that since the first torque slope table is used to characterize the correspondence between the vehicle speed and the maximum output torque slope of the motor during the zero-crossing jump of the motor output torque value, the torque slope limit that is more in line with the current working condition can be determined according to the first torque slope table, thereby improving the smoothness of the vehicle's driving under special working conditions, and ultimately improving the vehicle's power performance and user experience.

[0009] In a possible implementation, when the current gear state matches the preset gear state, determining the motor output torque slope limit value according to the current vehicle speed and the first torque slope table includes: When the current gear state matches the preset gear state, determining whether the current speed of the vehicle is zero; When the current vehicle speed is not zero, the motor output torque slope limit is determined according to the current vehicle speed and the first torque slope table.

[0010] In the embodiment of the present application, when the current gear state matches the preset gear state, it is determined whether the current speed of the vehicle is zero; when the current speed is not zero, the motor output torque slope limit is determined according to the current speed and the first torque slope table. It can be understood that before determining the motor output torque slope limit according to the current speed and the first torque slope table, it is first determined whether it is a special working condition of switching between forward gear and reverse gear under the condition that the speed is not zero, thereby ensuring that the motor output torque under special working conditions can be processed in time, which improves the smoothness of vehicle driving under special working conditions to a certain extent, and ultimately improves the vehicle's power performance and user experience.

[0011] In a possible implementation, the method further includes: When the current vehicle speed is zero, the motor output torque slope limit is determined according to the current accelerator pedal opening and a second torque slope table, wherein the second torque slope table is used to characterize the correspondence between the accelerator pedal quick reading and the motor maximum output torque slope during the zero-crossing jump of the motor output torque; Wherein, under the same current gear state condition, the absolute value of the motor output torque slope limit determined according to the second torque slope table is greater than the absolute value of the motor output torque slope limit determined according to the first torque slope table.

[0012] In the embodiment of the present application, when the current vehicle speed is zero, the motor output torque slope limit is determined according to the current accelerator pedal opening and the second torque slope table. It can be understood that under normal working conditions, the motor output torque slope limit determined by the second torque slope table can ensure the smoothness of the vehicle. Therefore, when it is determined that the current vehicle speed is zero, the motor output torque slope limit can be directly determined according to the current accelerator pedal opening and the second torque slope table. Under the premise of ensuring the smoothness of the vehicle's driving, the time for the torque to jump to zero is shortened, which ultimately improves the vehicle's power performance and user experience.

[0013] In a possible implementation, when the current gear state matches the preset gear state, determining the motor output torque slope limit value according to the current vehicle speed and the first torque slope table includes: When the current gear state matches the preset gear state, the torque zero-crossing change state is determined; wherein the torque zero-crossing change state includes: a torque zero-crossing rising state and a torque zero-crossing falling state, wherein the torque zero-crossing rising state is a process in which the output torque value of the motor rises from a negative torque value to a positive torque value, and the torque zero-crossing falling state is a process in which the output torque value of the motor decreases from a positive torque value to a negative torque value; When the torque zero-crossing change state is a torque zero-crossing rising state, determining the motor output torque slope limit value according to the current vehicle speed and a first torque rising slope table, wherein the first torque rising slope table is used to characterize the correspondence between the vehicle speed and the maximum output torque slope of the motor when the motor output torque value rises from a negative torque value to a positive torque value; When the torque zero-crossing change state is a torque zero-crossing decreasing state, the motor output torque slope limit is determined according to the current vehicle speed of the vehicle and a first torque decreasing slope table. The first torque decreasing slope table is used to characterize the correspondence between the vehicle speed and the maximum output torque slope of the motor during the process in which the motor output torque value decreases from a positive torque value to a negative torque value.

[0014] In the embodiment of the present application, when the current gear state matches the preset gear state, the torque zero-crossing change state is first determined; when the torque zero-crossing change state is the torque zero-crossing rising state, the motor output torque slope limit is determined according to the current vehicle speed and the first torque rising slope table of the vehicle; when the torque zero-crossing change state is the torque zero-crossing falling state, the motor output torque slope limit is determined according to the current vehicle speed and the first torque falling slope table of the vehicle. It can be understood that since the motor changes from the forward output torque to the reverse output torque, the setback point of the motor from the reverse output torque to the forward output torque is different, so for different torque zero-crossing change states, the corresponding torque slope table is calibrated; then according to the first torque rising slope table or the first torque falling slope table, a more accurate motor output torque slope limit can be determined. To a certain extent, the smoothness of the vehicle's driving under special conditions is improved, and ultimately the vehicle's power performance and user experience are improved.

[0015] In a possible implementation, the determining whether the current gear state of the vehicle matches the preset gear state includes: Determine whether the vehicle's automatic parking assist function is turned on; When the automatic parking assist function of the vehicle is not turned on, it is determined whether the current gear state of the vehicle matches the preset gear state.

[0016] In the embodiment of the present application, it is first determined whether the automatic parking assist function of the vehicle is turned on; when the automatic parking assist function of the vehicle is not turned on, it is determined whether the current gear state of the vehicle matches the preset gear state. It is understandable that since the automatic parking assist function is turned on, the vehicle will not have special working conditions. Therefore, when it is determined that the automatic parking assist function of the vehicle is not turned on, it is further determined whether the current gear state of the vehicle matches the preset gear state, and then it is determined whether the vehicle is in a special working condition. To a certain extent, the smoothness of the vehicle's driving under special working conditions is ensured, and ultimately the vehicle's power performance and user experience are improved.

[0017] In a possible implementation, the method further includes: When the automatic parking assist function of the vehicle is turned on, the motor output torque slope limit is determined according to the current accelerator pedal opening and the second torque slope table, wherein the second torque slope table is used to characterize the correspondence between the accelerator pedal quick reading and the maximum output torque slope of the motor during the zero-crossing jump of the motor output torque; Wherein, under the same current gear state condition, the absolute value of the motor output torque slope limit determined according to the second torque slope table is greater than the absolute value of the motor output torque slope limit determined according to the first torque slope table.

[0018] In the embodiment of the present application, when the automatic parking assist function of the vehicle is turned on, the motor output torque slope limit is determined according to the current accelerator pedal opening and the second torque slope table. It can be understood that since the automatic parking assist function is turned on, the vehicle will not have special working conditions. Therefore, when it is determined that the automatic parking assist function of the vehicle is turned on, the motor output torque slope limit can be directly determined according to the current accelerator pedal opening and the second torque slope table. Under the premise of ensuring the smoothness of the vehicle's driving, the time for the torque zero-crossing jump is shortened, and ultimately the vehicle's power performance and user experience are improved.

[0019] In a possible implementation, when the current gear state matches the preset gear state, determining the motor output torque slope limit value according to the current vehicle speed and the first torque slope table includes: When the current gear state matches the preset gear state and the time for the motor to output torque is within a first preset time period, the motor output torque slope limit is determined based on the current vehicle speed and the first torque slope table. The first preset time period includes the time period corresponding to the zero-crossing jump process of the motor output torque value.

[0020] In the embodiment of the present application, when the current gear state matches the preset gear state, and the time for the motor to output torque is within the first preset time period, the motor output torque slope limit is determined according to the current vehicle speed and the first torque slope table. It can be understood that since the first preset time period includes the time period corresponding to the zero-crossing jump process of the motor output torque value, it is ensured that the motor output torque slope limit is determined according to the current vehicle speed and the first torque slope table within the first preset time period, which improves the vehicle's power performance and user experience to a certain extent.

[0021] In a possible implementation, the method further includes: When the current gear state matches the preset gear state, and the time for the motor to output torque is not within the first preset time period, the motor output torque slope limit is determined according to the current accelerator pedal opening and a second torque slope table, wherein the second torque slope table is used to characterize the correspondence between the accelerator pedal quick reading and the maximum output torque slope of the motor during the zero-crossing jump of the motor output torque; Wherein, under the same current gear state condition, the absolute value of the motor output torque slope limit determined according to the second torque slope table is greater than the absolute value of the motor output torque slope limit determined according to the first torque slope table.

[0022] In the embodiment of the present application, when the current gear state matches the preset gear state, and the time for the motor to output torque is not within the first preset time period, the motor output torque slope limit is determined according to the current accelerator pedal opening and the second torque slope table. It can be understood that since the first preset time period includes the time period corresponding to the zero-crossing jump process of the motor output torque value, and the time for the motor to output torque is not within the first preset time period, the motor output torque slope limit can be directly determined according to the current accelerator pedal opening and the second torque slope table, thereby allowing the motor to pass through the torque zero-crossing jump process faster, ultimately improving the smoothness of the vehicle's driving and the user experience.

[0023] In a second aspect, an embodiment of the present application provides a motor torque control device, comprising: A judgment module, used to judge whether the current gear state of the vehicle matches a preset gear state, wherein the preset gear state is used to represent the state of switching between the forward gear and the reverse gear; a motor output torque slope limit determination module, configured to determine the motor output torque slope limit value according to the current vehicle speed and a first torque slope table when the current gear state matches the preset gear state, wherein the first torque slope table is used to characterize the correspondence between the vehicle speed and the maximum motor output torque slope during the zero-crossing jump of the motor output torque value; The output torque value control module is used to control the output torque value of the motor according to the output torque slope limit of the motor.

[0024] In a third aspect, an embodiment of the present application provides a vehicle, characterized in that it includes: processor; Memory; and a computer program, wherein the computer program is stored in the memory, the computer program comprising instructions, which, when executed by the processor, cause the vehicle to execute the method described in any one of the first aspects.

[0025] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, characterized in that 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.

[0026] 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 all 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

[0027] 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.

[0028] Figure 1 A schematic diagram of an application scenario provided for an embodiment of the present application.

[0029] Figure 2 A flow chart of a method for controlling motor torque provided in an embodiment of the present application.

[0030] Figure 3 A schematic diagram of the structure of a motor torque control device provided in an embodiment of the present application.

[0031] Figure 4 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] To facilitate understanding, a specific application scenario is first exemplified below.

[0037] See also Figure 1 , is a schematic diagram of an application scenario provided by an embodiment of the present application. Figure 1As shown, the application scenario includes: vehicle 100. The vehicle is equipped with a motor. It can be understood that the motor is generally a device that converts electrical energy into mechanical energy, which can provide power and energy for the vehicle and plays a vital role in the normal operation of the vehicle. 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 condition, thereby ensuring the normal operation of the vehicle.

[0038] When the working condition of the vehicle changes, it is often accompanied by a zero-crossing jump in the motor output torque. When the motor output torque crosses zero, the motor gears often collide due to inertia, causing the vehicle to generate greater noise and vibration.

[0039] It should be noted that the motor can rotate in the forward direction or in the reverse direction. For example, assuming that when the motor rotates in the forward direction, the motor output torque is usually positive torque; when the motor rotates in the reverse direction, the motor output torque is usually negative torque. Therefore, when the motor output torque changes from positive torque to negative torque, or when the motor output torque changes from negative torque to positive torque, the motor output torque will have a change process of "positive torque / negative torque-zero torque-negative torque / positive torque", which is the zero-crossing jump of the motor output torque.

[0040] When the working condition of the vehicle changes, it is often accompanied by a zero-crossing jump in the motor output torque. When the motor output torque crosses zero, the motor gears often collide due to inertia, causing the vehicle to produce greater noise and vibration. In response to the above problems, in the related technology, different filter parameters are used for control according to different motor output torque change directions and ranges to prevent torque mutations from causing impacts on the entire vehicle. Specifically, the upper / lower limit of the slope of the motor output torque in the zero-crossing area is set to prevent torque mutations.

[0041] However, under some special working conditions (for example, switching between forward gear and reverse gear when the vehicle speed is not zero), only considering setting the rising / falling slope limit for the zero-crossing interval of the motor output torque, the vehicle's motor gears will still experience a more violent collision, which will cause the vehicle to produce greater noise and vibration, ultimately affecting the vehicle's power performance and the user's driving experience.

[0042] In view of the above problems, in the embodiment of the present application, it is first determined whether the current gear state of the vehicle matches the preset gear state; when the current gear state matches the preset gear state, the motor output torque slope limit is determined according to the current vehicle speed and the first torque slope table; finally, the motor output torque value is controlled according to the motor output torque slope limit. It can be understood that since the first torque slope table is used to characterize the correspondence between the vehicle speed and the maximum output torque slope of the motor during the zero-crossing jump of the motor output torque value, the torque slope limit that is more in line with the current working condition can be determined according to the first torque slope table, thereby improving the smoothness of the vehicle's driving under special working conditions, and ultimately improving the vehicle's power performance and user experience. Specifically, it is described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0043] See also Figure 2 , is a flow chart of a method for controlling motor torque provided in an embodiment of the present application. The method can be applied to Figure 1 The application scenarios shown are as follows: Figure 2 As shown, it mainly includes the following steps.

[0044] Step S201: Determine whether the current gear state of the vehicle matches the preset gear state.

[0045] In the embodiment of the present application, it is first determined whether the current gear state of the vehicle matches the preset gear state, wherein the preset gear state is used to represent the state of switching between the forward gear and the reverse gear of the vehicle.

[0046] It can be understood that when the current gear state of the vehicle does not match the preset gear state, that is, the vehicle is not in a state of switching between forward gear and reverse gear at this time, and the vehicle is not in some special working conditions (that is, when the vehicle speed is not zero, the forward gear and reverse gear are switched). When the current gear state of the vehicle matches the preset gear state, that is, the vehicle is in a state of switching between forward gear and reverse gear at this time, the vehicle is probably in a special working condition (that is, when the vehicle speed is not zero, the forward gear and reverse gear are switched), at this time, according to In one possible implementation, before determining the current gear state of the vehicle, it is first determined whether the automatic parking assist function of the vehicle is turned on; when the automatic parking assist function of the vehicle is not turned on, it is determined whether the current gear state of the vehicle matches the preset gear state.

[0047] It is understandable that when the vehicle's automatic parking assist function is turned on, the vehicle will usually switch between forward and reverse gears only after the vehicle has come to a complete stop (i.e., the vehicle speed is zero). Therefore, there will be no special operating conditions for the vehicle when the automatic parking assist function is turned on. At this time, when it is determined that the vehicle's automatic parking assist function is not turned on, it will further determine whether the vehicle's current gear state matches the preset gear state. To a certain extent, the control efficiency of the motor's output torque is improved, so that the motor can quickly determine the corresponding output torque, and to a certain extent, ensure the smoothness of the vehicle's driving under special conditions, ultimately improving the vehicle's power performance and user experience.

[0048] In one possible implementation, when the automatic parking assist function of the vehicle is turned on, the motor output torque slope limit is determined according to the current accelerator pedal opening and the second torque slope table. The second torque slope table is used to characterize the correspondence between the accelerator pedal quick reading and the maximum output torque slope of the motor during the zero-crossing jump of the motor output torque. It can be understood that under the current gear state, the absolute value of the motor output torque slope limit determined according to the second torque slope table is greater than the absolute value of the motor output torque slope limit determined according to the first torque slope table.

[0049] It should be pointed out that the first torque slope table represents the corresponding relationship between the vehicle speed and the slope of the maximum output torque of the motor during the zero-crossing jump of the motor output torque value.

[0050] It is understandable that the first torque slope table and the second torque slope table are obtained after calibration based on a large amount of actual experimental data. Specifically, under the same operating conditions, the absolute value of the motor output torque slope limit determined according to the second torque slope table is greater than the absolute value of the motor output torque slope limit determined according to the first torque slope table. It is understandable that when the vehicle is in a special operating condition, the motor output torque mutation is more drastic. Therefore, when the vehicle is in a special operating condition, the motor output torque slope limit is determined based on the first torque slope table; when the vehicle is in a general operating condition, the motor output torque slope limit is determined based on the second torque slope table.

[0051] In the embodiment of the present application, since the automatic parking assist function is turned on, the vehicle will not have special operating conditions. Therefore, when it is determined that the automatic parking assist function of the vehicle is turned on, the motor output torque slope limit can be directly determined based on the current accelerator pedal opening and the second torque slope table. Under the premise of ensuring the smoothness of the vehicle's driving, the torque zero-crossing jump time is shortened, ultimately improving the vehicle's power performance and user experience.

[0052] Step S202: When the current gear state matches the preset gear state, the motor output torque slope limit is determined according to the current vehicle speed and the first torque slope table.

[0053] In an embodiment of the present application, when the current gear state matches the preset gear state, the motor output torque slope limit is determined based on the current vehicle speed and the first torque slope table.

[0054] In one possible implementation, when the current gear state matches the preset gear state, the torque zero-crossing change state is determined; when the torque zero-crossing change state is the torque zero-crossing rising state, the motor output torque slope limit is determined based on the vehicle's current speed and the first torque rising slope table; when the torque zero-crossing change state is the torque zero-crossing falling state, the motor output torque slope limit is determined based on the vehicle's current speed and the first torque falling slope table.

[0055] The torque zero-crossing change state includes: a torque zero-crossing rising state and a torque zero-crossing falling state. The torque zero-crossing rising state is the process in which the output torque value of the motor rises from a negative torque value to a positive torque value, and the torque zero-crossing falling state is the process in which the output torque value of the motor drops from a positive torque value to a negative torque value. The first torque rising slope table is used to characterize the corresponding relationship between the vehicle speed and the slope of the maximum output torque of the motor when the output torque value of the motor rises from a negative torque value to a positive torque value; the first torque falling slope table is used to characterize the corresponding relationship between the vehicle speed and the slope of the maximum output torque of the motor when the output torque value of the motor drops from a positive torque value to a negative torque value.

[0056] In the embodiment of the present application, since the motor changes from forward output torque to reverse output torque, the setback point is different from the motor changes from reverse output torque to forward output torque, so for different torque zero-crossing change states, the corresponding torque slope table is calibrated; then, according to the first torque rising slope table or the first torque falling slope table, a more accurate motor output torque slope limit can be determined. To a certain extent, the smoothness of vehicle driving under special working conditions is improved, and ultimately the vehicle's power performance and user experience are improved.

[0057] In practical applications, since the special working condition refers to the switching between the forward gear and the reverse gear of the vehicle when the vehicle speed is not zero, in order to more clearly determine whether the vehicle is in a special working condition, the current speed of the vehicle can be determined.

[0058] In one possible implementation, when the current gear state matches the preset gear state, it is determined whether the current vehicle speed is zero; when the current vehicle speed is not zero, the motor output torque slope limit is determined based on the current vehicle speed and the first torque slope table.

[0059] In an embodiment of the present application, before determining the motor output torque slope limit value based on the current vehicle speed and the first torque slope table, it is first determined whether it is a special operating condition in which the forward gear and the reverse gear are switched when the vehicle speed is not zero, thereby ensuring that the motor output torque under special conditions can be processed in a timely manner, thereby improving the smoothness of vehicle driving under special conditions to a certain extent, and ultimately improving the vehicle's power performance and user experience.

[0060] In a possible implementation, when the current vehicle speed is zero, the motor output torque slope limit is determined according to the current accelerator pedal opening and the second torque slope table. Under normal working conditions, the motor output torque slope limit determined by the second torque slope table can ensure the smoothness of the vehicle. Therefore, when the current vehicle speed is determined to be zero, the motor output torque slope limit can be directly determined according to the current accelerator pedal opening and the second torque slope table. Under the premise of ensuring the smoothness of the vehicle's driving, the time for the torque to jump to zero is shortened, which ultimately improves the vehicle's power performance and user experience.

[0061] In practical applications, since the absolute value of the torque slope limit corresponding to the second torque slope table is greater than the absolute value of the motor output torque slope limit determined according to the first torque slope table, the motor output torque slope limit determined by the second torque slope table is used to determine the motor output torque, which can shorten the time for the motor torque to jump to zero, thereby improving the vehicle's ride comfort and user experience. Therefore, the motor output torque slope limit can be determined in combination with the second torque slope table and the second torque slope table.

[0062] Specifically, in one possible implementation, when the current gear state matches the preset gear state and the time for the motor to output torque is within a first preset time period, the motor output torque slope limit is determined based on the vehicle's current speed and a first torque slope table. The first preset time period includes the time period corresponding to the zero-crossing jump process of the motor output torque value.

[0063] In the embodiment of the present application, since the first preset time period includes the time period corresponding to the zero-crossing jump process of the motor output torque value, it is ensured that within the first preset time period, the motor output torque slope limit is determined according to the current vehicle speed and the first torque slope table, which improves the vehicle's power performance and user experience to a certain extent.

[0064] In one possible implementation, when the current gear state matches the preset gear state and the time for the motor to output torque is not within a first preset time period, the motor output torque slope limit is determined based on the current accelerator pedal opening and the second torque slope table.

[0065] In the embodiment of the present application, since the first preset time period includes the time period corresponding to the zero-crossing jump process of the motor output torque value, and the time when the motor outputs the torque is not within the first preset time period, the motor output torque slope limit can be determined directly according to the current accelerator pedal opening and the second torque slope table, thereby enabling the motor to pass through the torque zero-crossing jump process faster, ultimately improving the smoothness of the vehicle's driving and user experience.

[0066] Step S203: controlling the output torque value of the motor according to the motor output torque slope limit value.

[0067] In an embodiment of the present application, the output torque value of the motor is controlled according to the motor output torque slope limit value, so that the output torque value of the motor meets the conditional requirements corresponding to the motor output torque slope limit value.

[0068] In the embodiment of the present application, first determine whether the current gear state of the vehicle matches the preset gear state; when the current gear state matches the preset gear state, determine the motor output torque slope limit according to the current vehicle speed and the first torque slope table; finally, control the motor output torque value according to the motor output torque slope limit. It can be understood that since the first torque slope table is used to characterize the correspondence between the vehicle speed and the maximum output torque slope of the motor during the zero-crossing jump of the motor output torque value, the torque slope limit that is more in line with the current working condition can be determined according to the first torque slope table, thereby improving the smoothness of the vehicle's driving under special working conditions, and ultimately improving the vehicle's power performance and user experience.

[0069] Corresponding to the above embodiment, the present application also provides a motor torque control device. Figure 3 , is a schematic diagram of a motor torque control device provided in an embodiment of the present application. The motor torque control device 300 comprises: a judgment module 301 , a motor output torque slope limit value determination module 302 and an output torque value control module 303 .

[0070] Specifically, the judgment module is used to determine whether the current gear state of the vehicle matches the preset gear state; the motor output torque slope limit determination module is used to determine the motor output torque slope limit according to the current vehicle speed and the first torque slope table when the current gear state matches the preset gear state; the output torque value control module is used to control the output torque value of the motor according to the motor output torque slope limit.

[0071] 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.

[0072] Corresponding to the above embodiment, the present application also provides a vehicle. Figure 4, which is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle 400 may include: a processor 401, a memory 402, and a communication unit 403. These components communicate through one or more buses. Those skilled in the art will understand that the structure of the vehicle shown in the figure does not constitute a limitation on the embodiment of the present invention. It may be a bus structure or a star structure, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0073] The communication unit 403 is used to establish a communication channel so that the vehicle can communicate with other devices, receive user data sent by other devices or send user data to other devices.

[0074] The processor 401 is the control center of the vehicle, and uses various interfaces and lines to connect various parts of the entire vehicle. It runs or executes software programs, instructions, and / or modules stored in the memory 402, and calls data stored in the memory to perform various functions of the vehicle and / or process data. The processor can be composed of an integrated circuit (IC), for example, it can be composed of a single packaged IC, or it can be composed of multiple packaged ICs with the same or different functions. For example, the processor 401 can include only a central processing unit (CPU). In an embodiment of the present invention, the CPU can be a single computing core or multiple computing cores.

[0075] The memory 402 is used to store the execution instructions of the processor 401. The memory 402 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0076] When the execution instructions in the memory 402 are executed by the processor 401, the vehicle 400 is able to execute Figure 2 Some or all of the steps in the illustrated embodiments.

[0077] In a specific implementation, the present application further 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.

[0078] In a specific implementation, the present application also provides a computer program product, wherein the computer program product includes executable instructions, and when the executable instructions are executed on a computer, the computer executes part or all of the steps in each embodiment of the simulation scene generation method provided by the present invention.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] In several embodiments provided in the present application, if any function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable 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., various media that can store program codes.

[0083] 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 method for controlling motor torque, characterized in that: include: Determining whether the current gear state of the vehicle matches a preset gear state, wherein the preset gear state is used to represent the state of switching between the forward gear and the reverse gear of the vehicle; When the current gear state matches the preset gear state, determining the motor output torque slope limit value according to the current vehicle speed and a first torque slope table, wherein the first torque slope table is used to characterize the correspondence between the vehicle speed and the maximum motor output torque slope during the zero-crossing jump of the motor output torque value; The output torque value of the motor is controlled according to the motor output torque slope limit value.

2. The method according to claim 1, characterized in that When the current gear state matches the preset gear state, determining the motor output torque slope limit value according to the current vehicle speed and the first torque slope table includes: When the current gear state matches the preset gear state, determining whether the current speed of the vehicle is zero; When the current vehicle speed is not zero, the motor output torque slope limit is determined according to the current vehicle speed and the first torque slope table.

3. The method according to claim 2, characterized in that Also includes: When the current vehicle speed is zero, the motor output torque slope limit is determined according to the current accelerator pedal opening and a second torque slope table, wherein the second torque slope table is used to characterize the correspondence between the accelerator pedal quick reading and the motor maximum output torque slope during the zero-crossing jump of the motor output torque; Wherein, under the same current gear state condition, the absolute value of the motor output torque slope limit determined according to the second torque slope table is greater than the absolute value of the motor output torque slope limit determined according to the first torque slope table.

4. The method according to claim 1, characterized in that When the current gear state matches the preset gear state, determining the motor output torque slope limit value according to the current vehicle speed and the first torque slope table includes: When the current gear state matches the preset gear state, the torque zero-crossing change state is determined; wherein the torque zero-crossing change state includes: a torque zero-crossing rising state and a torque zero-crossing falling state, wherein the torque zero-crossing rising state is a process in which the output torque value of the motor rises from a negative torque value to a positive torque value, and the torque zero-crossing falling state is a process in which the output torque value of the motor decreases from a positive torque value to a negative torque value; When the torque zero-crossing change state is a torque zero-crossing rising state, determining the motor output torque slope limit value according to the current vehicle speed and a first torque rising slope table, wherein the first torque rising slope table is used to characterize the correspondence between the vehicle speed and the maximum output torque slope of the motor when the motor output torque value rises from a negative torque value to a positive torque value; When the torque zero-crossing change state is a torque zero-crossing decreasing state, the motor output torque slope limit is determined according to the current vehicle speed of the vehicle and a first torque decreasing slope table. The first torque decreasing slope table is used to characterize the correspondence between the vehicle speed and the maximum output torque slope of the motor during the process in which the motor output torque value decreases from a positive torque value to a negative torque value.

5. The method according to claim 1, characterized in that The determining whether the current gear state of the vehicle matches the preset gear state includes: Determine whether the vehicle's automatic parking assist function is turned on; When the automatic parking assist function of the vehicle is not turned on, it is determined whether the current gear state of the vehicle matches the preset gear state.

6. The method according to claim 5, characterized in that Also includes: When the automatic parking assist function of the vehicle is turned on, the motor output torque slope limit is determined according to the current accelerator pedal opening and the second torque slope table, wherein the second torque slope table is used to characterize the correspondence between the accelerator pedal quick reading and the maximum output torque slope of the motor during the zero-crossing jump of the motor output torque; Wherein, under the same current gear state condition, the absolute value of the motor output torque slope limit determined according to the second torque slope table is greater than the absolute value of the motor output torque slope limit determined according to the first torque slope table.

7. The method according to claim 1, characterized in that When the current gear state matches the preset gear state, determining the motor output torque slope limit value according to the current vehicle speed and the first torque slope table includes: When the current gear state matches the preset gear state and the time for the motor to output torque is within a first preset time period, the motor output torque slope limit is determined based on the current vehicle speed and the first torque slope table. The first preset time period includes the time period corresponding to the zero-crossing jump process of the motor output torque value.

8. The method according to claim 7, characterized in that Also includes: When the current gear state matches the preset gear state, and the time for the motor to output torque is not within the first preset time period, the motor output torque slope limit is determined according to the current accelerator pedal opening and a second torque slope table, wherein the second torque slope table is used to characterize the correspondence between the accelerator pedal quick reading and the maximum output torque slope of the motor during the zero-crossing jump of the motor output torque; Wherein, under the same current gear state condition, the absolute value of the motor output torque slope limit determined according to the second torque slope table is greater than the absolute value of the motor output torque slope limit determined according to the first torque slope table.

9. A motor torque control device, characterized in that: include: A judgment module, used to judge whether the current gear state of the vehicle matches a preset gear state, wherein the preset gear state is used to represent the state of switching between the forward gear and the reverse gear; a motor output torque slope limit determination module, configured to determine the motor output torque slope limit value according to the current vehicle speed and a first torque slope table when the current gear state matches the preset gear state, wherein the first torque slope table is used to characterize the correspondence between the vehicle speed and the maximum motor output torque slope during the zero-crossing jump of the motor output torque value; The output torque value control module is used to control the output torque value of the motor according to the output torque slope limit of the motor.

10. A vehicle, characterized in that: include: processor; Memory; and a computer program, wherein the computer program is stored in the memory, the computer program comprising instructions, which, when executed by the processor, cause the vehicle to perform the method of any one of claims 1 to 8.

11. 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 8.

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