A motor torque control method and device, electronic equipment and storage medium

Abstract

Embodiments of the present application provide a motor torque control method and device, electronic equipment and storage medium. The method comprises: first determining whether the current gear state of the vehicle matches the preset gear state; 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; finally, controlling the output torque value of the motor according to the motor output torque slope limit value. It can be understood that, since the first torque slope table is used to represent the corresponding relationship between the vehicle speed and the maximum output torque slope of the motor during the zero-crossing jump process of the motor output torque value, the torque slope limit value more consistent with the current working condition can be determined according to the first torque slope table, thereby improving the smoothness of the vehicle driving under special working conditions, and finally improving the power performance and user experience of the vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a motor torque control method and device, electronic equipment and 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. 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] When the working condition of the vehicle changes, the zero-crossing jump of the motor output torque often occurs. When the zero-crossing jump of the motor output torque occurs, the motor gear often collides due to inertia, thereby causing the vehicle to produce a large noise and vibration. To solve the above problem, in the related art, different filter parameters are used for control according to different motor output torque change directions and change ranges to prevent the torque mutation from impacting the vehicle. Specifically, the upper / lower limit of the slope of the zero-crossing region of the motor output torque is set to prevent torque mutation.

[0004] However, in some special working conditions (for example, when the vehicle speed is not zero and the forward gear and the reverse gear are switched), only considering setting the rising / falling slope limit value for the zero-crossing interval of the motor output torque, the motor gear of the vehicle still collides violently, thereby causing the vehicle to produce a large noise and vibration, ultimately affecting the power performance of the vehicle and the driving experience of the user.

[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, electronic equipment and storage medium to solve the problem that in the prior art, in some special working conditions (for example, when the vehicle speed is not zero and the forward gear and the reverse gear are switched), only considering setting the rising / falling slope limit value for the zero-crossing interval of the motor output torque, the motor gear of the vehicle still collides violently, thereby causing the vehicle to produce a large noise and vibration, ultimately affecting the power performance of the vehicle and the driving experience of the user.

[0007] In a first aspect, the embodiments of the present application provide a motor torque control method, comprising:

[0008] determine whether the current gear state of the vehicle matches a preset gear state, the preset gear state being used to represent a state in which the forward gear and the reverse gear are switched with each other;

[0009] when the current gear state matches the preset gear state, determine a motor output torque slope limit value according to a current vehicle speed of the vehicle and a first torque slope table, the first torque slope table being used to represent a corresponding relationship between the vehicle speed and a maximum motor output torque slope in a process in which a motor output torque value crosses zero;

[0010] control the motor output torque value according to the motor output torque slope limit value.

[0011] In the embodiments of the present application, first, it is determined whether the current gear state of the vehicle matches a preset gear state; when the current gear state matches the preset gear state, a motor output torque slope limit value is determined according to a current vehicle speed of the vehicle and a first torque slope table; finally, the motor output torque value is controlled according to the motor output torque slope limit value. It can be understood that, since the first torque slope table is used to represent a corresponding relationship between the vehicle speed and the maximum motor output torque slope in the process in which the motor output torque value crosses zero, the torque slope limit value that is more consistent with the current working condition can be determined according to the first torque slope table, thereby improving the smoothness of the vehicle driving in the special working condition, and finally improving the power performance of the vehicle and the user experience.

[0012] In a possible implementation, when the current gear state matches the preset gear state, the motor output torque slope limit value is determined according to the current vehicle speed of the vehicle and the first torque slope table, including:

[0013] when the current gear state matches the preset gear state, it is determined whether the current vehicle speed of the vehicle is zero;

[0014] when the current vehicle speed is not zero, the motor output torque slope limit value is determined according to the current vehicle speed and the first torque slope table.

[0015] In the embodiments of the present application, when the current gear state matches the preset gear state, it is determined whether the current vehicle speed of the vehicle is zero; when the current vehicle speed is not zero, the motor output torque slope limit value is determined according to the current vehicle speed and the first torque slope table. It can be understood that, before the motor output torque slope limit value is determined according to the current vehicle speed and the first torque slope table, it is first determined whether the special working condition in which the forward gear and the reverse gear are switched with each other under the condition that the vehicle speed is not zero, thereby ensuring that the motor output torque in the special working condition can be processed in time, improving the smoothness of the vehicle driving in the special working condition to a certain extent, and finally improving the power performance of the vehicle and the user experience.

[0016] In a possible implementation, the method further includes:

[0017] When the current vehicle speed is zero, the motor output torque slope limit value is determined according to the current accelerator pedal opening degree and a second torque slope table, the second torque slope table being used to represent a corresponding relationship between the accelerator pedal fast reading and the maximum motor output torque slope in a process of zero-crossing of the motor output torque.

[0018] The absolute value of the motor output torque slope limit value determined according to the second torque slope table is greater than the absolute value of the motor output torque slope limit value determined according to the first torque slope table under the same current gear state.

[0019] In the embodiment, when the current vehicle speed is zero, the motor output torque slope limit value is determined according to the current accelerator pedal opening degree and the second torque slope table. It can be understood that, because the motor output torque slope limit value determined by the second torque slope table can ensure the smoothness of the vehicle in an ordinary working condition, when it is determined that the current vehicle speed is zero, the motor output torque slope limit value can be directly determined according to the current accelerator pedal opening degree and the second torque slope table, so that the time of zero-crossing of the torque is shorter on the premise of ensuring the smoothness of the vehicle, and finally the power performance and user experience of the vehicle are improved.

[0020] In a possible implementation, when the current gear state matches the preset gear state, the motor output torque slope limit value is determined according to the current vehicle speed of the vehicle and a first torque slope table, and the first torque slope table is used to represent a corresponding relationship between the vehicle speed and the maximum motor output torque slope in a process of zero-crossing of the motor output torque.

[0021] When the current gear state matches the preset gear state, a torque zero-crossing change state is determined, and 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 a process in which the motor output torque value rises from a negative torque value to a positive torque value, and the torque zero-crossing falling state is a process in which the motor output torque value falls from a positive torque value to a negative torque value.

[0022] When the torque zero-crossing change state is the torque zero-crossing rising state, the motor output torque slope limit value is determined according to the current vehicle speed of the vehicle and a first torque rising slope table, and the first torque rising slope table is used to represent a corresponding relationship between the vehicle speed and the maximum motor output torque slope in a process in which the motor output torque value rises from a negative torque value to a positive torque value.

[0023] When the torque zero-crossing change state is a torque zero-crossing descending state, the motor output torque slope limit value is determined according to the current vehicle speed of the vehicle and a first torque descending slope table, the first torque descending slope table being used to represent a corresponding relationship between the vehicle speed and the motor maximum output torque slope during a process in which the motor output torque value descends from a positive torque value to a negative torque value.

[0024] In the embodiments 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 a torque zero-crossing ascending state, the motor output torque slope limit value is determined according to the current vehicle speed of the vehicle and a first torque ascending slope table; and when the torque zero-crossing change state is a torque zero-crossing descending state, the motor output torque slope limit value is determined according to the current vehicle speed of the vehicle and a first torque descending slope table. It can be understood that, because the torque zero-crossing point when the motor changes from a positive output torque to a negative output torque is not the same as the torque zero-crossing point when the motor changes from a negative output torque to a positive output torque, the corresponding torque slope table is calibrated for different torque zero-crossing change states; and then according to the first torque ascending slope table or the first torque descending slope table, a more accurate motor output torque slope limit value can be determined. To some extent, the smoothness of the vehicle driving in a special working condition is improved, and the dynamic performance and user experience of the vehicle are ultimately improved.

[0025] In a possible implementation, the determining whether the current gear state of the vehicle matches the preset gear state comprises:

[0026] determining whether an automatic parking assistance function of the vehicle is turned on;

[0027] When the automatic parking assistance function of the vehicle is not turned on, determining whether the current gear state of the vehicle matches the preset gear state.

[0028] In the embodiments of the present application, it is first determined whether the automatic parking assistance function of the vehicle is turned on; and when the automatic parking assistance 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 can be understood that, because the automatic parking assistance function is turned on, the vehicle does not exist in a special working condition, and therefore when it is determined that the automatic parking assistance 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 some extent, the smoothness of the vehicle driving in a special working condition is ensured, and the dynamic performance and user experience of the vehicle are ultimately improved.

[0029] In a possible implementation, the method further comprises:

[0030] When the automatic parking assistance function of the vehicle is turned on, the motor output torque slope limit value is determined according to the current accelerator pedal opening degree and a second torque slope table, the second torque slope table being used to represent a corresponding relationship between the accelerator pedal fast reading and the maximum motor output torque slope in a process of zero-crossing of the motor output torque.

[0031] In the same current gear state condition, the absolute value of the motor output torque slope limit value determined according to the second torque slope table is greater than the absolute value of the motor output torque slope limit value determined according to the first torque slope table.

[0032] In the embodiment of the application, when the automatic parking assistance function of the vehicle is turned on, the motor output torque slope limit value is determined according to the current accelerator pedal opening degree and a second torque slope table. It can be understood that, since the automatic parking assistance function is turned on, the vehicle does not have special working conditions, and therefore when it is judged that the automatic parking assistance function of the vehicle is turned on, the motor output torque slope limit value can be directly determined according to the current accelerator pedal opening degree and the second torque slope table, so that the time of zero-crossing of the torque is shorter under the premise of ensuring the smoothness of the vehicle, and finally the power performance and user experience of the vehicle are improved.

[0033] In a possible implementation, when the current gear state matches the preset gear state, the motor output torque slope limit value is determined according to the current vehicle speed of the vehicle and a first torque slope table, including:

[0034] When the current gear state matches the preset gear state, and the time of the motor output torque is within a first preset time period, the motor output torque slope limit value is determined according to the current vehicle speed of the vehicle and the first torque slope table, the first preset time period including a time period corresponding to the process of zero-crossing of the motor output torque value.

[0035] In the embodiment of the application, when the current gear state matches the preset gear state, and the time of the motor output torque is within a first preset time period, the motor output torque slope limit value is determined according to the current vehicle speed of the vehicle and the first torque slope table. It can be understood that, since the first preset time period includes a time period corresponding to the process of zero-crossing of the motor output torque value, the motor output torque slope limit value is determined according to the current vehicle speed and the first torque slope table within the first preset time period, which to some extent improves the power performance and user experience of the vehicle.

[0036] In a possible implementation, the method further includes:

[0037] determining the motor output torque slope limit value according to the current accelerator pedal opening degree and the second torque slope table when the current gear state matches the preset gear state and the time of the motor output torque is not within the first preset time period, the second torque slope table being used to represent a corresponding relationship between the accelerator pedal quick reading and the maximum motor output torque slope in the process of the zero-crossing jump of the motor output torque value;

[0038] wherein, under the same current gear state condition, the absolute value of the motor output torque slope limit value determined according to the second torque slope table is greater than the absolute value of the motor output torque slope limit value determined according to the first torque slope table.

[0039] In the embodiment of the present application, when the current gear state matches the preset gear state and the time of the motor output torque is not within the first preset time period, the motor output torque slope limit value is determined according to the current accelerator pedal opening degree 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 of the motor output torque is not within the first preset time period at this time, the motor output torque slope limit value can be directly determined according to the current accelerator pedal opening degree and the second torque slope table, so that the motor can pass through the zero-crossing jump process of the torque more quickly, and finally the smoothness of vehicle driving and user experience are improved.

[0040] In a second aspect, the embodiment of the present application provides a motor torque control device, comprising:

[0041] a judgment module, configured to judge whether a current gear state of a vehicle matches a preset gear state, the preset gear state being used to represent a state in which the forward gear and the reverse gear are switched with each other;

[0042] a motor output torque slope limit value determination module, configured to determine a motor output torque slope limit value according to a current vehicle speed of the vehicle and a first torque slope table when the current gear state matches the preset gear state, the first torque slope table being used to represent a corresponding relationship between the vehicle speed and the maximum motor output torque slope in the process of the zero-crossing jump of the motor output torque value;

[0043] an output torque value control module, configured to control the output torque value of the motor according to the motor output torque slope limit value.

[0044] In a third aspect, the embodiment of the present application provides a vehicle, comprising:

[0045] a processor;

[0046] a memory;

[0047] and a computer program, wherein the computer program is stored in the memory, and the computer program includes instructions, which, when executed by the processor, cause the vehicle to perform the method of any one of the first aspect.

[0048] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, and the computer-readable storage medium includes a stored program, wherein the program, when executed, controls a device where the computer-readable storage medium is located to perform the method of any one of the first aspect.

[0049] 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 thereby can refer to the beneficial effects in the corresponding method, which will not be described here again. BRIEF DESCRIPTION OF DRAWINGS

[0050] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0051] Figure 1 An application scenario diagram provided by an embodiment of the present application.

[0052] Figure 2 A flowchart of a motor torque control method provided by an embodiment of the present application.

[0053] Figure 3 A structural diagram of a motor torque control device provided by an embodiment of the present application.

[0054] Figure 4 A structural diagram of a vehicle provided by an embodiment of the present application. DETAILED DESCRIPTION

[0055] 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.

[0056] It should be clear that the described embodiments are only some of the embodiments of the present application, not all. 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.

[0057] The terminology used in the embodiments of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used in the embodiments of the present application and the appended claims, the singular forms "a," "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0058] It should be understood that the term "and / or" used herein only describes an association relationship of 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 " / " herein generally represents an "or" relationship between the front and rear associated objects.

[0059] For ease of understanding, the specific application scenarios will be exemplarily described first as follows.

[0060] Referring to Figure 1 , a schematic diagram of an application scenario provided by the embodiments of the present application is shown. As Figure 1 indicated, the application scenario includes a vehicle 100. The vehicle is loaded with a motor. It can be understood that 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. 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.

[0061] When the working condition of the vehicle changes, the zero-crossing jump of the output torque of the motor often occurs. When the output torque of the motor occurs zero-crossing jump, the motor gear often collides due to inertia, thereby causing the vehicle to produce a large noise and vibration.

[0062] It should be pointed out that the motor can rotate forward or backward. For example, assuming that the motor rotates forward, the output torque of the motor is usually positive torque; when the motor rotates backward, the output torque of the motor is usually negative torque. Therefore, when the output torque of the motor changes from positive torque to negative torque, or the output torque of the motor changes from negative torque to positive torque, the motor will output torque has a "positive torque / negative torque-zero torque-negative torque / positive torque" change process, which is the zero-crossing jump of the output torque of the motor.

[0063] When the working condition of the vehicle changes, the zero-crossing jump of the motor output torque often accompanies. When the zero-crossing jump of the motor output torque occurs, the motor gear often collides due to inertia, and then the vehicle generates a larger noise and vibration. In the related technology, different filter parameters are used for control according to different motor output torque change directions and change ranges, so as to prevent the torque mutation from impacting the vehicle. Specifically, the motor output torque in the zero-crossing region is set with an upper / lower limit of the slope, so as to prevent the torque mutation.

[0064] However, under some special working conditions (for example, when the vehicle speed is not zero and the forward gear and the reverse gear are switched), only considering setting the upper / lower limit of the slope for the zero-crossing interval of the motor output torque, the motor gear of the vehicle still collides violently, and then the vehicle generates a larger noise and vibration, which finally affects the power performance of the vehicle and the driving experience of the user.

[0065] To solve the above problems, in the embodiment of the present application, first, it is judged 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 value is determined according to the current vehicle speed of the vehicle and the first torque slope table; finally, the output torque value of the motor is controlled according to the motor output torque slope limit value. It can be understood that, since the first torque slope table is used to represent the corresponding relationship 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 value that is more consistent with the current working condition can be determined according to the first torque slope table, thereby improving the smoothness of the vehicle driving under special working conditions, and finally improving the power performance of the vehicle and the user experience. In the following, specific embodiments are described in detail in combination with the drawings.

[0066] Reference is made to Figure 2 A flowchart of a motor torque control method is provided in the embodiment of the present application. The method can be applied to Figure 1 The application scenario shown in FIG. 1, such as Figure 2 The method mainly includes the following steps.

[0067] Step S201: judge whether the current gear state of the vehicle matches the preset gear state.

[0068] In the embodiment of the present application, it is first judged whether the current gear state of the vehicle matches the preset gear state. The preset gear state is used to represent the state of mutual switching of the forward gear and the reverse gear of the vehicle.

[0069] 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 the state of mutual switching between the forward gear and the reverse gear, the vehicle is not in some special working conditions (that is, the vehicle is switching between the forward gear and the reverse gear when the vehicle speed is not zero). When the current gear state of the vehicle matches the preset gear state, that is, the vehicle is in the state of mutual switching between the forward gear and the reverse gear, the vehicle is probably in a special working condition (that is, the vehicle is switching between the forward gear and the reverse gear when the vehicle speed is not zero), and at this time, the corresponding output torque of the motor can be determined according to the current accelerator pedal opening degree and the first torque slope table.

[0070] In a possible implementation, before judging the current gear state of the vehicle, it is judged whether the automatic parking assistance function of the vehicle is turned on; when the automatic parking assistance function of the vehicle is not turned on, it is judged whether the current gear state of the vehicle matches the preset gear state.

[0071] It can be understood that when the automatic parking assistance function of the vehicle is turned on, the vehicle usually switches between the forward gear and the reverse gear only after the vehicle is parked (that is, the vehicle speed is zero), and therefore the vehicle does not exist in a special working condition when the automatic parking assistance function is turned on. At this time, when it is judged that the automatic parking assistance function of the vehicle is not turned on, it is further judged whether the current gear state of the vehicle matches the preset gear state, which improves the control efficiency of the output torque of the motor to a certain extent, so that the motor can quickly determine the corresponding output torque, ensures the smoothness of the vehicle in a special working condition to a certain extent, and finally improves the power performance of the vehicle and the user experience.

[0072] In a possible implementation, when the automatic parking assistance function of the vehicle is turned on, the motor output torque slope limit value is determined according to the current accelerator pedal opening degree and the second torque slope table. The second torque slope table is used to represent the corresponding relationship between the accelerator pedal quick reading and the maximum output torque slope of the motor in the process of zero-crossing jump of the motor output torque. It can be understood that the absolute value of the motor output torque slope limit value determined according to the second torque slope table is greater than the absolute value of the motor output torque slope limit value determined according to the first torque slope table under the current gear state.

[0073] It should be noted that the first torque slope table represents the corresponding relationship between the vehicle speed and the maximum output torque slope of the motor in the process of zero-crossing jump of the motor output torque value.

[0074] It can be understood that the first torque slope table and the second torque slope table are obtained after calibration according to a large amount of actual experimental data. Specifically, under the same working condition, the absolute value of the motor output torque slope limit value determined according to the second torque slope table is greater than the absolute value of the motor output torque slope limit value determined according to the first torque slope table. It can be understood that when the vehicle is in a special working condition, the motor output torque mutation is more severe. Therefore, when the vehicle is in a special working condition, the motor output torque slope limit value is determined based on the first torque slope table; when the vehicle is in a general working condition, the motor output torque slope limit value is determined based on the second torque slope table.

[0075] In the embodiment of the application, since the automatic parking assistance function is turned on, the vehicle will not be in a special working condition, so when it is judged that the automatic parking assistance function of the vehicle is turned on, the motor output torque slope limit value can be directly determined according to the current accelerator pedal opening and the second torque slope table, so that the time of torque zero-crossing jump is shorter under the premise of ensuring the smoothness of vehicle driving, and finally the power performance and user experience of the vehicle are improved.

[0076] Step S202: When the current gear state matches the preset gear state, the motor output torque slope limit value is determined according to the current vehicle speed of the vehicle and the first torque slope table.

[0077] In the embodiment of the application, when the current gear state matches the preset gear state, the motor output torque slope limit value is determined according to the current vehicle speed of the vehicle and the first torque slope table.

[0078] In a possible implementation, when the current gear state matches the preset gear state, a torque zero-crossing change state is determined; when the torque zero-crossing change state is a torque zero-crossing rising state, the motor output torque slope limit value is determined according to the current vehicle speed of the vehicle and the first torque rising slope table; when the torque zero-crossing change state is a torque zero-crossing falling state, the motor output torque slope limit value is determined according to the current vehicle speed of the vehicle and the first torque falling slope table.

[0079] 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 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 falls from a positive torque value to a negative torque value. The first torque rising slope table is used to represent the corresponding relationship between the vehicle speed and the maximum output torque slope of the motor in the process in which the output torque value of the motor rises from a negative torque value to a positive torque value; and the first torque falling slope table is used to represent the corresponding relationship between the vehicle speed and the maximum output torque slope of the motor in the process in which the output torque value of the motor falls from a positive torque value to a negative torque value.

[0080] In the embodiment of the present application, since the torque output direction of the motor changes from forward to reverse, the torque output direction of the motor changes from reverse to forward, and the torque zero-crossing change state is different, the torque slope table corresponding to the torque zero-crossing change state is calibrated; then, according to the first torque rising slope table or the first torque falling slope table, the motor output torque slope limit value can be determined more accurately. To some extent, the smoothness of the vehicle driving in the special working condition is improved, and finally the power performance and user experience of the vehicle are improved.

[0081] In actual application, since the special working condition refers to the forward gear and the reverse gear of the vehicle are switched to each other when the vehicle speed is not zero, in order to more clearly determine whether the vehicle is in the special working condition, the current speed of the vehicle can be determined.

[0082] In a possible implementation, 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 value is determined according to the current speed and the first torque slope table.

[0083] In the embodiment of the present application, before the motor output torque slope limit value is determined according to the current speed and the first torque slope table, it is first determined whether the special working condition of switching the forward gear and the reverse gear when the vehicle speed is not zero, and then it is ensured that the motor output torque in the special working condition can be processed in time, and to some extent, the smoothness of the vehicle driving in the special working condition is improved, and finally the power performance and user experience of the vehicle are improved.

[0084] In a possible implementation, when the current speed is zero, the motor output torque slope limit value is determined according to the current accelerator pedal opening and the second torque slope table. Since the motor output torque slope limit value determined by the second torque slope table can ensure the smoothness of the vehicle in the ordinary working condition, when it is determined that the current speed of the vehicle is zero, the motor output torque slope limit value can be directly determined according to the current accelerator pedal opening and the second torque slope table, the time of torque zero-crossing jump is shorter under the premise of ensuring the smoothness of the vehicle driving, and finally the power performance and user experience of the vehicle are improved.

[0085] In actual application, since the absolute value of the torque slope limit value corresponding to the second torque slope table is greater than the absolute value of the motor output torque slope limit value determined according to the first torque slope table, the motor output torque determined by the motor output torque slope limit value determined by the second torque slope table can make the time of torque zero-crossing jump of the motor shorter, and then the smoothness and user experience of the vehicle are improved. Therefore, the motor output torque slope limit value can be determined in combination with the second torque slope table and the second torque slope table.

[0086] Specifically, in a possible implementation, when the current gear state matches the preset gear state and the time of the motor output torque is within the first preset time period, the motor output torque slope limit value is determined according to the current vehicle speed and the first torque slope table, and the first preset time period includes a time period corresponding to the zero-crossing jump process of the motor output torque value.

[0087] In the embodiment of the present application, since the first preset time period includes a 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 value is determined according to the current vehicle speed and the first torque slope table within the first preset time period, which to some extent improves the power performance of the vehicle and the user experience.

[0088] In a possible implementation, when the current gear state matches the preset gear state and the time of the motor output torque is not within the first preset time period, the motor output torque slope limit value is determined according to the current accelerator pedal opening and the second torque slope table.

[0089] In the embodiment of the present application, since the first preset time period includes a time period corresponding to the zero-crossing jump process of the motor output torque value, and the time of the motor output torque is not within the first preset time period, the motor output torque slope limit value can be directly determined according to the current accelerator pedal opening and the second torque slope table, so that the motor can pass through the torque zero-crossing jump process more quickly, and finally the smoothness of the vehicle driving and the user experience are improved.

[0090] Step S203: controlling the output torque value of the motor according to the motor output torque slope limit value.

[0091] In the 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 condition requirement corresponding to the motor output torque slope limit value.

[0092] In the embodiment of the present application, firstly, it is judged 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 value is determined according to the current vehicle speed and the first torque slope table; finally, the output torque value of the motor is controlled according to the motor output torque slope limit value. It can be understood that, since the first torque slope table is used to represent the corresponding relationship between the vehicle speed and the maximum motor output torque slope in the zero-crossing jump process of the motor output torque value, the torque slope limit value more consistent with the current working condition can be determined according to the first torque slope table, thereby improving the smoothness of the vehicle driving in the special working condition, and finally improving the power performance of the vehicle and the user experience.

[0093] Corresponding to the above-mentioned embodiments, the present application also provides a motor torque control device. Referring to Figure 3A structural schematic diagram of a motor torque control device is provided in the embodiments of the present application. The motor torque control device 300 comprises a judging module 301, a motor output torque slope limit value determination module 302 and an output torque value control module 303.

[0094] Specifically, the judging module is configured to judge whether a current gear state of the vehicle matches a preset gear state; the motor output torque slope limit value determination module is configured to determine a motor output torque slope limit value according to a current vehicle speed of the vehicle and a first torque slope table when the current gear state matches the preset gear state; and the output torque value control module is configured to control an output torque value of the motor according to the motor output torque slope limit value.

[0095] The specific content involved in the embodiments of the present application can be referred to the description in the method embodiments, and will not be described here for brevity.

[0096] Corresponding to the above embodiments, the present application further provides a vehicle. Referring to Figure 4 A structural schematic diagram of a vehicle is provided in the embodiments of the present application. The vehicle 400 can comprise a processor 401, a memory 402 and a communication unit 403. These components communicate through one or more buses, and those skilled in the art can understand that the structure of the vehicle shown in the figure does not constitute a limitation on the embodiments of the present application. It can be a bus structure, or a star structure, and can include more or fewer components than shown in the figure, or combine some components, or different component arrangements.

[0097] The communication unit 403 is configured to establish a communication channel, so that the vehicle can communicate with other devices. It receives user data sent by other devices or sends user data to other devices.

[0098] The processor 401 is the control center of the vehicle, and connects various parts of the vehicle through various interfaces and lines. It 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 integrated circuits (ICs), for example, a single packaged IC, or a plurality of packaged ICs with the same function or different functions connected. For example, the processor 401 can only include a central processing unit (CPU). In the embodiments of the present application, the CPU can be a single operation core, or can include multiple operation cores.

[0099] The memory 402 is configured to store the execution instructions of the processor 401. The memory 402 can be implemented by any type of volatile or nonvolatile storage devices 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 storage, flash memory, magnetic disk or optical disk.

[0100] When the execution instructions in the memory 402 are executed by the processor 401, the vehicle 400 is enabled to perform Figure 2 some or all of the steps in the embodiments shown.

[0101] In specific implementations, the present application further provides a computer storage medium, wherein the computer storage medium can store a program, and the program can include some or all of the steps in the embodiments of the simulation scenario generation method provided by the present application when executed. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0102] In specific implementations, the present application further provides a computer program product, wherein the computer program product contains executable instructions, and when the executable instructions are executed on a computer, the computer is enabled to perform some or all of the steps in the embodiments of the simulation scenario generation method provided by the present application.

[0103] In the embodiments of the present 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 that the associated objects before and after it are in an "or" relationship. "At least one of the following" and similar expressions mean 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, c can be single or multiple.

[0104] Those skilled in the art can clearly understand that the units and algorithm steps described in the embodiments disclosed herein can be realized by electronic hardware, computer software and combination of the electronic hardware and the computer software. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solutions. Those skilled in the art can use different methods to realize the described functions for each specific application, but it should not be considered that the implementation goes beyond the scope of the present application.

[0105] Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be described here.

[0106] In several embodiments provided in the present application, any function 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 part of the technical solutions that make contributions to the prior art or the part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and 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.

[0107] The same or 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 of controlling torque of an electric motor, characterized by, The method comprises the following steps: determining whether the current gear state of the vehicle matches a preset gear state, the preset gear state being used to represent a state in which the forward gear and the reverse gear of the vehicle are switched with each other; when the current gear state matches the preset gear state, determining a motor output torque slope limit value according to the current vehicle speed of the vehicle and a first torque slope table, the first torque slope table being used to represent a corresponding relationship between the vehicle speed and the maximum motor output torque slope in a process in which the motor output torque value jumps over zero; controlling the motor output torque value according to the motor output torque slope limit value; when the current gear state matches the preset gear state, determining a motor output torque slope limit value according to the current vehicle speed of the vehicle and a first torque slope table, comprises: when the current gear state matches the preset gear state, determining a torque zero-crossing state; wherein the torque zero-crossing state comprises a torque zero-crossing rising state and a torque zero-crossing falling state, the torque zero-crossing rising state being a process in which the motor output torque value rises from a negative torque value to a positive torque value, and the torque zero-crossing falling state being a process in which the motor output torque value falls from a positive torque value to a negative torque value; when the torque zero-crossing state is the torque zero-crossing rising state, determining a motor output torque slope limit value according to the current vehicle speed of the vehicle and a first torque rising slope table, the first torque rising slope table being used to represent a corresponding relationship between the vehicle speed and the maximum motor output torque slope in a process in which the motor output torque value rises from a negative torque value to a positive torque value; when the torque zero-crossing state is the torque zero-crossing falling state, determining a motor output torque slope limit value according to the current vehicle speed of the vehicle and a first torque falling slope table, the first torque falling slope table being used to represent a corresponding relationship between the vehicle speed and the maximum motor output torque slope in a process in which the motor output torque value falls from a positive torque value to a negative torque value; when the current gear state matches the preset gear state, determining a motor output torque slope limit value according to the current vehicle speed of the vehicle and a first torque slope table, comprises: when the current gear state matches the preset gear state and the time of the motor output torque is within a first preset time period, determining a motor output torque slope limit value according to the current vehicle speed of the vehicle and a first torque slope table, the first preset time period comprising a time period corresponding to the process in which the motor output torque value jumps over zero; when the current gear state matches the preset gear state and the time of the motor output torque is not within the first preset time period, determining a motor output torque slope limit value according to the current accelerator pedal opening degree and a second torque slope table, the second torque slope table being used to represent a corresponding relationship between the accelerator pedal quick reading and the maximum motor output torque slope in the process in which the motor output torque jumps over zero; wherein, under the same current gear state condition, the absolute value of the motor output torque slope limit value determined according to the second torque slope table is greater than the absolute value of the motor output torque slope limit value determined according to the first torque slope table.

2. The method of claim 1, wherein, The method comprises the following steps: 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 represent the corresponding relationship between the vehicle speed and the maximum motor output torque slope in the process of zero-crossing jump of the motor output torque value. When the current vehicle speed is zero, determining the motor output torque slope limit value according to the current accelerator pedal opening degree and a second torque slope table, wherein the second torque slope table is used to represent the corresponding relationship between the accelerator pedal fast reading and the maximum motor output torque slope in the process of zero-crossing jump of the motor output torque.

3. The method of claim 2, wherein, The absolute value of the motor output torque slope limit value determined according to the second torque slope table is greater than the absolute value of the motor output torque slope limit value determined according to the first torque slope table under the same current gear state. The method comprises the following steps: Determining whether the automatic parking auxiliary function of the vehicle is started; 4. The method of claim 1, wherein, When the automatic parking auxiliary function of the vehicle is not started, determining whether the current gear state of the vehicle matches the preset gear state. When the automatic parking auxiliary function of the vehicle is started, determining the motor output torque slope limit value according to the current accelerator pedal opening degree and the second torque slope table, wherein the second torque slope table is used to represent the corresponding relationship between the accelerator pedal fast reading and the maximum motor output torque slope in the process of zero-crossing jump of the motor output torque. The absolute value of the motor output torque slope limit value determined according to the second torque slope table is greater than the absolute value of the motor output torque slope limit value determined according to the first torque slope table under the same current gear state.

5. The method of claim 4, wherein, The method comprises the following steps: A judgment module is configured to determine 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 mutual switching between the forward gear and the reverse gear. A motor output torque slope limit value determination module is 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 represent the corresponding relationship between the vehicle speed and the maximum motor output torque slope in the process of zero-crossing jump of the motor output torque value.

6. A control device of a torque of an electric motor, characterized by comprising: An output torque value control module is configured to control the output torque value of the motor according to the motor output torque slope limit value. ​ ​ ​ The motor output torque slope limit value determination module is specifically configured to: when the current gear state matches the preset gear state, determine a torque zero-crossing change state; 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 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 falls from a positive torque value to a negative torque value; when the torque zero-crossing change state is the torque zero-crossing rising state, determine the motor output torque slope limit value according to the current vehicle speed and a first torque rising slope table, the first torque rising slope table is used to represent the corresponding relationship between the vehicle speed and the maximum motor output torque slope in the process in which the output torque value of the motor rises from a negative torque value to a positive torque value; when the torque zero-crossing change state is the torque zero-crossing falling state, determine the motor output torque slope limit value according to the current vehicle speed and a first torque falling slope table, the first torque falling slope table is used to represent the corresponding relationship between the vehicle speed and the maximum motor output torque slope in the process in which the output torque value of the motor falls from a positive torque value to a negative torque value. The motor output torque slope limit value determination module is specifically configured to: when the current gear state matches the preset gear state and the time of the motor output torque is within a first preset time period, determine the motor output torque slope limit value according to the current vehicle speed and a first torque slope table, the first preset time period includes a time period corresponding to the zero-crossing jump process of the motor output torque value; when the current gear state matches the preset gear state and the time of the motor output torque is not within the first preset time period, determine the motor output torque slope limit value according to the current accelerator pedal opening degree and a second torque slope table, the second torque slope table is used to represent the corresponding relationship between the accelerator pedal quick reading and the maximum motor output torque slope in the zero-crossing jump process of the motor output torque; wherein, under the condition of the same current gear state, the absolute value of the motor output torque slope limit value determined according to the second torque slope table is greater than the absolute value of the motor output torque slope limit value determined according to the first torque slope table.

7. A vehicle characterized by comprising: comprise: a processor; a memory; and a computer program, wherein the computer program is stored in the memory, the computer program includes instructions, when the instructions are executed by the processor, the vehicle executes the method of any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium includes a stored program, wherein the program controls the device where the computer readable storage medium is located to execute the method of any one of claims 1 to 5 when the program is running.

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