Vehicle driving motor torque control method and electronic equipment

Abstract

The invention discloses a vehicle driving motor torque control method and electronic equipment. The method comprises the steps of obtaining required torque of a driving motor, actual rotating speed of the motor and actual acceleration of a vehicle; determining a corresponding maximum torque limit value according to the actual motor rotating speed and the actual acceleration; and taking the minimum value of the required torque and the maximum torque limit value as the final output torque, and controlling the driving motor by adopting the final output torque. According to the invention, the motor output torque can be adjusted actually based on the vehicle acceleration, so that the vehicle is driven at a relatively ideal acceleration, and the vehicle driving feeling is improved. Meanwhile, when the rotating speed of the motor changes drastically and motor control is unstable, motor overcurrent is prone to occurring, however, the torque limiting value is calculated based on the acceleration, torque can be limited in advance under the working condition with the very high motor rotating speed change rate, and the risk of motor overcurrent occurring under the working condition that the vehicle slips very seriously is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle-related technologies, and in particular to a vehicle drive motor torque control method, electronic equipment, storage medium and computer program product. Background Art

[0002] like Figure 1 As shown, the motor controller (INV) of the vehicle drive motor in the prior art only receives the vehicle control module (VCM) command torque 1' to execute and control the drive motor 4'. The VCM command torque is calculated based on the throttle, state of charge (SOC) and other conditions, but does not refer to the actual acceleration of the vehicle.

[0003] In the prior art, when a vehicle severely skids, the vehicle VCM and the vehicle running dynamic control system (VDC) will limit the INV torque. After the vehicle controller command torque and the motor system torque limit 2' take the minimum value, the VCM command torque is transmitted to the INV to generate the INV output torque 3'. The motor system torque limit 2' is determined according to the working condition of the motor system. Depending on the working condition of the motor system, such as normal working condition or fault working condition, the motor system torque limit may be different.

[0004] However, the prior art does not refer to the vehicle acceleration, so there are problems such as insufficient torque limitation and slow response time. It has high requirements on the stability of INV current control, and overcurrent is prone to occur when the control is unstable. Summary of the invention

[0005] Based on this, it is necessary to provide a vehicle drive motor torque control method, electronic device, storage medium and computer program product to address the technical problems of insufficient torque limitation and slow response time in the prior art.

[0006] The present invention provides a vehicle drive motor torque control method, comprising:

[0007] Obtain the required torque of the drive motor, the actual speed of the motor, and the actual acceleration of the vehicle;

[0008] Determining a corresponding maximum torque limit value according to the actual motor speed and the actual acceleration;

[0009] The minimum value between the required torque and the maximum torque limit is taken as the final output torque, and the final output torque is used to control the drive motor.

[0010] Further, determining the corresponding maximum torque limit value according to the actual motor speed and the actual acceleration includes:

[0011] Determine the interval in which the actual acceleration is located, and if the actual acceleration is less than a first acceleration threshold, determine that the actual acceleration is in a normal acceleration interval; otherwise, determine that the actual acceleration is in a vehicle slip interval;

[0012] Based on the interval in which the actual acceleration is located, the corresponding maximum torque limit is determined according to the actual motor speed and the expected acceleration, or the corresponding maximum torque limit is determined according to the actual motor speed and the actual acceleration.

[0013] Furthermore, determining the corresponding maximum torque limit value according to the actual motor speed and the expected acceleration includes:

[0014] When the actual acceleration is within the normal acceleration range, obtaining a current driving mode and a normal acceleration maximum torque limit table;

[0015] Acquiring an actual vehicle speed, and determining an expected acceleration according to the current driving mode and the actual vehicle speed;

[0016] From the normal acceleration maximum torque limit table, find the maximum torque limit corresponding to the actual speed of the motor and the expected acceleration.

[0017] Furthermore, the driving mode includes a normal driving mode and a sports mode;

[0018] At the same vehicle speed, the expected acceleration calculated according to the sports mode is greater than or equal to the expected acceleration calculated according to the normal driving mode.

[0019] Furthermore, determining the corresponding maximum torque limit value according to the actual motor speed and the actual acceleration includes:

[0020] When the actual acceleration is in the vehicle slip range, obtaining a maximum torque limit value table of the drive motor without overcurrent;

[0021] The maximum torque limit corresponding to the actual rotation speed of the motor and the actual acceleration is searched from the maximum torque limit table of the driving motor without overcurrent.

[0022] Further, searching the maximum torque limit corresponding to the actual motor speed and the actual acceleration from the maximum torque limit table of the driving motor without overcurrent includes:

[0023] When the actual acceleration is greater than or equal to the second acceleration threshold and the duration exceeds the time threshold, the maximum torque limit corresponding to the actual motor speed and the actual acceleration is searched from the drive motor non-overcurrent maximum torque limit table.

[0024] Furthermore, in the table of maximum torque limits for the drive motor without overcurrent, for the same vehicle speed, the maximum torque limit corresponding to the larger actual acceleration is less than or equal to the maximum torque limit corresponding to the smaller actual acceleration.

[0025] The present invention provides an electronic device, comprising:

[0026] at least one processor; and,

[0027] a memory communicatively connected to at least one of the processors; wherein,

[0028] The memory stores instructions that can be executed by at least one of the processors. The instructions are executed by at least one of the processors to enable the at least one of the processors to perform the vehicle drive motor torque control method as described above.

[0029] The present invention provides a storage medium, wherein the storage medium stores computer instructions. When a computer executes the computer instructions, the storage medium is used to execute all steps of the vehicle drive motor torque control method as described above.

[0030] The present invention provides a computer program product, comprising a computer program / instruction, which implements the vehicle drive motor torque control method as described above when executed by a processor.

[0031] The present invention can actually adjust the motor output torque based on the vehicle acceleration by calculating the vehicle acceleration, so that the vehicle can maintain a relatively ideal acceleration for driving, and improve the vehicle driving experience. At the same time, when the motor speed changes drastically, if the motor control is unstable, the motor overcurrent is likely to occur. The present invention calculates the torque limit based on the acceleration, so the torque can be limited in advance for the working conditions with a very high motor speed change rate, reducing the risk of motor overcurrent when the vehicle is in a very serious slipping condition. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A schematic diagram of a vehicle drive motor torque control method in the prior art;

[0033] Figure 2 This is a working flow chart of a vehicle drive motor torque control method according to an embodiment of the present invention;

[0034] Figure 3 This is a working flow chart of a vehicle drive motor torque control method according to another embodiment of the present invention;

[0035] Figure 4 A further working flow diagram of a vehicle drive motor torque control method according to an embodiment of the present invention;

[0036] Figure 5 A further working flow chart of a method for controlling torque of a vehicle drive motor according to an embodiment of the present invention;

[0037] Figure 6 Shown is a working flow chart of a vehicle drive motor torque control method according to a preferred embodiment of the present invention;

[0038] Figure 7 The figure is a schematic diagram of the hardware structure of an electronic device of the present invention. DETAILED DESCRIPTION

[0039] The specific embodiments of the present invention are further described below in conjunction with the accompanying drawings. The same components are represented by the same reference numerals. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to directions in the accompanying drawings, and the words "inner" and "outer" refer to directions toward or away from the geometric center of a specific component, respectively.

[0040] like Figure 2 The figure shows a working flow chart of a vehicle drive motor torque control method according to an embodiment of the present invention, comprising:

[0041] Step S201, obtaining the required torque of the drive motor, the actual speed of the motor and the actual acceleration of the vehicle;

[0042] Step S202, determining a corresponding maximum torque limit value according to the actual motor speed and the actual acceleration;

[0043] Step S203: taking the minimum value of the required torque and the maximum torque limit as the final output torque, and using the final output torque to control the drive motor.

[0044] Specifically, the present invention can be applied to electronic devices with processing capabilities, such as a controller of a vehicle, such as an electronic control unit (ECU) of a vehicle. Preferably, a method for controlling a vehicle drive motor torque according to an embodiment of the present invention is executed on a motor controller of the drive motor.

[0045] Specifically, step S201 is first performed to obtain the required torque of the drive motor, the actual speed of the motor, and the actual acceleration of the vehicle.

[0046] The required torque of the drive motor is determined according to the VCM command torque provided by the VCM.

[0047] In some embodiments, after the VCM command torque and the motor system torque limit are minimized, an INV torque command including the required torque is generated.

[0048] The actual motor speed can be calculated by INV based on the resolver angle.

[0049] Then, the actual vehicle speed and the actual acceleration of the vehicle are calculated based on the speed ratio of the reducer and the tire radius.

[0050] The actual vehicle speed and the actual acceleration of the vehicle can also be obtained through the vehicle speed sensor and the acceleration sensor.

[0051] Then, step S202 is executed to determine the corresponding maximum torque limit value according to the actual motor speed and the actual acceleration.

[0052] Specifically, based on the vehicle's driving experience (lower acceleration range) and the INV overcurrent stability control (high acceleration range), the INV maximum torque limit based on the vehicle acceleration and motor speed is actually calibrated to form a maximum torque limit table.

[0053] Then, a maximum torque limit value based on vehicle acceleration is obtained by looking up a table based on the motor speed and vehicle acceleration.

[0054] Then, step S203 is executed to take the minimum value between the required torque and the maximum torque limit as the final output torque, and the final output torque is used to control the drive motor.

[0055] Specifically, the final output torque of INV is obtained by comprehensive calculation based on the maximum torque limit and the required torque based on the vehicle acceleration, and the final output torque is output to the motor control module to control the drive motor.

[0056] like Figure 4 The figure is a further working flow chart of a vehicle drive motor torque control method according to an embodiment of the present invention, comprising:

[0057] Step S401, calculating the motor speed;

[0058] Step S402, calculating the vehicle speed according to the motor speed;

[0059] Step S403, calculating the vehicle acceleration according to the vehicle speed;

[0060] Step S404, obtaining the INV maximum torque limit value by looking up the table based on the motor speed and the vehicle acceleration;

[0061] Step S405, obtaining the INV output torque based on the smaller of the INV maximum torque limit and the VCM command torque;

[0062] Step S406 , outputting the INV output torque to the motor control module to control the drive motor.

[0063] like Figure 5 The figure is a further working flow chart of a method for controlling torque of a vehicle drive motor according to an embodiment of the present invention, comprising:

[0064] Step S501, determining the motor speed through the rotation angle;

[0065] Step S502, calculating the vehicle speed according to the motor speed, the speed ratio of the reducer, and the tire radius;

[0066] Step S503, calculating the vehicle acceleration according to the vehicle speed;

[0067] Step S504, based on the motor speed and the vehicle acceleration, look up the maximum torque limit table to obtain the maximum torque limit;

[0068] Step S505, taking the smaller of the vehicle controller (VCM) command torque and the motor system torque limit value to obtain an INV torque command;

[0069] Step S506, taking the smaller of the INV torque command and the maximum torque limit to obtain the INV output torque;

[0070] Step S507, outputting the INV output torque to the motor control module to control the drive motor

[0071] The present invention can actually adjust the motor output torque based on the vehicle acceleration by calculating the vehicle acceleration, so that the vehicle can maintain a relatively ideal acceleration for driving, and improve the vehicle driving experience. At the same time, when the motor speed changes drastically, if the motor control is unstable, the motor overcurrent is likely to occur. The present invention can limit the torque in advance based on the acceleration for the working condition with a very high motor speed change rate, thereby reducing the risk of motor overcurrent when the vehicle is in a very serious slipping condition.

[0072] like Figure 3 The flowchart of a vehicle drive motor torque control method according to another embodiment of the present invention includes:

[0073] Step S301, obtaining the required torque of the drive motor, the actual speed of the motor and the actual acceleration of the vehicle.

[0074] Step S302, determining the interval in which the actual acceleration is located. If the actual acceleration is less than a first acceleration threshold, determining that the actual acceleration is in a normal acceleration interval; otherwise, determining that the actual acceleration is in a vehicle slip interval.

[0075] Step S303: Based on the interval of the actual acceleration, the corresponding maximum torque limit is determined according to the actual motor speed and the expected acceleration, or the corresponding maximum torque limit is determined according to the actual motor speed and the actual acceleration.

[0076] In one embodiment, determining the corresponding maximum torque limit value according to the actual motor speed and the expected acceleration includes:

[0077] When the actual acceleration is within the normal acceleration range, obtaining a current driving mode and a normal acceleration maximum torque limit table;

[0078] Acquiring an actual vehicle speed, and determining an expected acceleration according to the current driving mode and the actual vehicle speed;

[0079] From the normal acceleration maximum torque limit table, find the maximum torque limit corresponding to the actual speed of the motor and the expected acceleration.

[0080] In one embodiment, the driving mode includes a normal driving mode and a sports mode;

[0081] At the same vehicle speed, the expected acceleration calculated according to the sports mode is greater than or equal to the expected acceleration calculated according to the normal driving mode.

[0082] In one embodiment, determining the corresponding maximum torque limit value according to the actual motor speed and the actual acceleration includes:

[0083] When the actual acceleration is in the vehicle slip range, obtaining a maximum torque limit value table of the drive motor without overcurrent;

[0084] The maximum torque limit corresponding to the actual rotation speed of the motor and the actual acceleration is searched from the maximum torque limit table of the driving motor without overcurrent.

[0085] In one embodiment, searching the maximum torque limit corresponding to the actual motor speed and the actual acceleration from the maximum torque limit table of the drive motor without overcurrent includes:

[0086] When the actual acceleration is greater than or equal to the second acceleration threshold and the duration exceeds the time threshold, the maximum torque limit corresponding to the actual motor speed and the actual acceleration is searched from the drive motor non-overcurrent maximum torque limit table.

[0087] In one of the embodiments, in the table of maximum torque limits for the drive motor without overcurrent, for the same vehicle speed, the maximum torque limit corresponding to the larger actual acceleration is less than or equal to the maximum torque limit corresponding to the smaller actual acceleration.

[0088] Step S304: taking the minimum value of the required torque and the maximum torque limit as the final output torque, and using the final output torque to control the drive motor.

[0089] Specifically, step S301 is first performed to obtain the required torque of the drive motor, the actual speed of the motor, and the actual acceleration of the vehicle.

[0090] Specifically, INV will autonomously calculate the motor speed based on the rotation angle, and calculate the actual vehicle speed and acceleration based on the reducer ratio and tire radius. The vehicle acceleration can be obtained based on the motor speed, and the motor speed is combined with the reducer ratio, tire radius and other parameters to calculate the actual vehicle acceleration. The vehicle acceleration can also be measured by an acceleration sensor.

[0091] Then, step S302 is executed to determine the range in which the actual acceleration is located. If the actual acceleration is less than the first acceleration threshold, it is determined that the actual acceleration is in the normal acceleration range; otherwise, it is determined that the actual acceleration is in the vehicle slip range.

[0092] Specifically, the interval is divided into a normal acceleration interval and a vehicle slip interval. Based on the vehicle acceleration, it is determined whether the current acceleration interval is a normal acceleration interval or the vehicle has slipped and is in a vehicle slip interval with a large acceleration.

[0093] The acceleration in the vehicle slipping interval is greater than the acceleration in the normal acceleration interval. Therefore, if the actual acceleration is less than the first acceleration threshold, it is determined that the actual acceleration is in the normal acceleration interval, otherwise it is determined that the actual acceleration is in the vehicle slipping interval.

[0094] Then, step S303 is executed to determine the corresponding maximum torque limit value based on the interval of the actual acceleration, according to the actual motor speed and the expected acceleration, or to determine the corresponding maximum torque limit value based on the actual motor speed and the actual acceleration.

[0095] Specifically, different intervals require different considerations.

[0096] In the normal acceleration range, the driving experience is basically related to the acceleration of the vehicle. The vehicle may have different acceleration expectations at different speeds. The torque corresponding to the vehicle acceleration at different speeds (motor speeds) can be simulated and calculated based on parameters such as vehicle weight, reducer ratio, and tire adhesion coefficient, and then calibrated and corrected based on actual measurements. This embodiment can limit the torque through INV (motor controller) when the vehicle reaches an unexpected acceleration, ensuring that the vehicle travels at the expected acceleration under high throttle conditions, thereby improving the vehicle driving experience.

[0097] In the area where the vehicle is slipping, INV (motor controller) is controlled based on the motor angle (resolver hardware sampling). Since the wheel end speed changes too quickly, the motor angle will also change quickly. INV will fluctuate due to the hysteresis control of the control system, and there is a risk of three-phase overcurrent. This embodiment can be based on vehicle acceleration judgment, and in the severe slip area, the maximum torque corresponding to different vehicle accelerations without overcurrent can be calibrated based on different speeds. By limiting the torque in advance, the risk of overcurrent in the vehicle / drive motor can be reduced.

[0098] In one embodiment, determining the corresponding maximum torque limit value according to the actual motor speed and the expected acceleration includes:

[0099] When the actual acceleration is within the normal acceleration range, obtaining a current driving mode and a normal acceleration maximum torque limit table;

[0100] Acquiring an actual vehicle speed, and determining an expected acceleration according to the current driving mode and the actual vehicle speed;

[0101] From the normal acceleration maximum torque limit table, find the maximum torque limit corresponding to the actual speed of the motor and the expected acceleration.

[0102] Specifically, in the normal acceleration range, first obtain from the whole vehicle that the current driving mode is in sports mode / comfort mode (normal driving mode), where the driving mode is determined based on the whole vehicle, and each driving mode has a vehicle speed and expected acceleration table. The vehicle speed and expected acceleration table is calibrated based on the sports mode or comfort mode, where the expected acceleration is the maximum acceleration in the driving mode at the current vehicle speed. Therefore, the vehicle speed and expected acceleration table corresponding to the current driving mode is obtained, and the expected acceleration of the vehicle corresponding to the actual vehicle speed in the current driving mode is queried. Then, the expected acceleration queried by the actual vehicle speed and the actual motor speed are used to check the normal acceleration maximum torque limit table again to obtain the maximum torque limit Tacc output by the motor (pre-calibrate the appropriate maximum torque table corresponding to the vehicle acceleration and motor speed).

[0103] The normal acceleration maximum torque limit table is pre-calibrated and records the maximum torque limits at different motor speeds and different accelerations during normal acceleration.

[0104] The maximum torque limit corresponding to the vehicle acceleration can be calculated based on vehicle weight, adhesion coefficient and other parameters. After calculating the maximum torque limit corresponding to the acceleration, the torque can be limited by software on the actual vehicle. Frequent acceleration and deceleration when the acceleration is large can easily cause motion sickness. Under different acceleration conditions of the throttle, the test personnel can evaluate the subjective feeling to see whether it is comfortable, so as to correct the corresponding maximum torque limit.

[0105] Then, from the normal acceleration maximum torque limit table, find the maximum torque limit corresponding to the actual motor speed and expected acceleration.

[0106] In some embodiments, the normal acceleration maximum torque limit table includes maximum torque limits corresponding to multiple speed intervals and acceleration intervals, and searching the maximum torque limit corresponding to the actual speed of the motor and the expected acceleration from the normal acceleration maximum torque limit table includes:

[0107] Determine the speed range of the actual motor speed and the acceleration range of the expected acceleration;

[0108] From the normal acceleration maximum torque limit table, find the maximum torque limit corresponding to the speed range where the actual motor speed is located and the acceleration range where the expected acceleration is located.

[0109] In one embodiment, the driving mode includes a normal driving mode and a sports mode;

[0110] At the same vehicle speed, the expected acceleration calculated according to the sports mode is greater than or equal to the expected acceleration calculated according to the normal driving mode.

[0111] Specifically, current vehicles are divided into sports mode and normal driving mode. For normal driving mode, the acceleration limit can be set lower and the acceleration changes more slowly to obtain a more comfortable driving experience. In sports mode, a higher acceleration can be used to pursue a certain push-back feeling.

[0112] Therefore, different expected acceleration tables are pre-calibrated in different driving modes. The expected acceleration table includes the expected acceleration corresponding to different vehicle speeds in the driving mode. Therefore, for the same vehicle speed, different driving modes will have different expected accelerations. The expected acceleration in the sports mode is larger, while the expected acceleration in the normal driving mode is smaller.

[0113] At the same time, the torque can be optimized in different vehicle speed ranges to avoid large changes in acceleration at different vehicle speeds, sudden changes in acceleration during acceleration, and two or three stages of acceleration, making the actual driving experience more linear. By limiting the expected acceleration, it can be ensured that the full throttle acceleration will not suddenly change, and a driving experience with the most linear acceleration changes can be obtained, improving drivability.

[0114] This embodiment sets different expected accelerations for different driving modes to satisfy the comfortable driving experience pursued in the normal driving mode and the push-back feeling in the sports mode.

[0115] When the actual acceleration is within the normal acceleration range, after the maximum torque limit is determined, step S304 is executed to take the minimum value of the required torque and the maximum torque limit as the final output torque, and the final output torque is used to control the drive motor.

[0116] Specifically, the vehicle will calculate the current vehicle demand torque Tcurr based on the throttle, current allowed power, etc., and input it to the drive motor. At this time, the drive motor will determine the smaller of the vehicle torque demand Tcurr and the maximum torque limit Tacc obtained from the normal acceleration maximum torque limit table above, and obtain the actual final output torque Tout of the drive motor, which is then executed by the drive motor to drive the vehicle.

[0117] In one embodiment, determining the corresponding maximum torque limit value according to the actual motor speed and the actual acceleration includes:

[0118] When the actual acceleration is in the vehicle slip range, obtaining a maximum torque limit value table of the drive motor without overcurrent;

[0119] The maximum torque limit corresponding to the actual rotation speed of the motor and the actual acceleration is searched from the maximum torque limit table of the driving motor without overcurrent.

[0120] Specifically, when it is determined that the vehicle is in a slipping acceleration range, that is, the actual acceleration is in the vehicle slipping range, the torque of the motor needs to be quickly limited at this time. One is for the stability of vehicle control, and the other is to reduce the risk of overcurrent when the speed of the drive motor changes drastically. Based on the actual speed and acceleration of the motor, actual vehicle testing can be performed to obtain the actual current performance of the motor under the corresponding working conditions. The maximum torque limit that needs to be limited to the drive motor under the actual speed and acceleration of the motor is obtained through current performance analysis, forming a maximum torque limit table for the drive motor without overcurrent.

[0121] Then, in the slipping condition, that is, when the actual acceleration is in the vehicle slipping range, the maximum torque limit Tlim of the drive motor is obtained by looking up the table based on the actual motor speed and the actual acceleration.

[0122] In some embodiments, the driving motor non-current maximum torque limit table includes maximum torque limits corresponding to multiple speed intervals and acceleration intervals, and searching the maximum torque limit corresponding to the actual motor speed and the actual acceleration from the driving motor non-current maximum torque limit table includes:

[0123] Determine the speed range where the actual speed of the motor is located, and determine the acceleration range where the actual acceleration is located;

[0124] From the table of maximum torque limits for drive motors without overcurrent, find the maximum torque limits corresponding to the speed range where the motor's actual speed is located and the acceleration range where the motor's actual acceleration is located.

[0125] In one embodiment, searching the maximum torque limit corresponding to the actual motor speed and the actual acceleration from the maximum torque limit table of the drive motor without overcurrent includes:

[0126] When the actual acceleration is greater than or equal to the second acceleration threshold and the duration exceeds the time threshold, the maximum torque limit corresponding to the actual motor speed and the actual acceleration is searched from the drive motor non-overcurrent maximum torque limit table.

[0127] Specifically, since the maximum torque limit in the drive motor non-current maximum torque limit table will significantly limit the torque of the drive motor, in order to avoid incorrect use of the drive motor non-current maximum torque limit table, the maximum torque limit corresponding to the actual motor speed and actual acceleration is searched from the drive motor non-current maximum torque limit table only when the actual acceleration is greater than or equal to the second acceleration threshold and the duration exceeds the time threshold.

[0128] In one of the embodiments, in the table of maximum torque limits for the drive motor without overcurrent, for the same vehicle speed, the maximum torque limit corresponding to the larger actual acceleration is less than or equal to the maximum torque limit corresponding to the smaller actual acceleration.

[0129] Specifically, the greater the actual acceleration, the greater the risk of overrun, the greater the torque limit required, and the smaller the corresponding torque limit value. Therefore, when the acceleration is small, the limit can be smaller, and when the acceleration is large, the limit needs to be larger.

[0130] When the actual acceleration is in the vehicle slip range, after the maximum torque limit is determined, step S304 is executed to take the minimum value of the required torque and the maximum torque limit as the final output torque, and the final output torque is used to control the drive motor.

[0131] Specifically, the maximum torque limit Tlim obtained by checking the maximum torque limit table of the drive motor without overcurrent is compared with the actual torque required by the current vehicle to the drive motor Tcurr, and the smaller one is determined to obtain the current execution torque Tout of the drive motor. The drive motor executes this torque to drive the vehicle;

[0132] Among them, in the actual slip condition, the vehicle controller will calculate the torque limit value through the slip rate based on the traction control system (TCS). However, this value needs to be transmitted through CAN, and the communication cycle is too long. The actual slip condition of this embodiment is based on the calibration of the vehicle acceleration and can refer to the actual vehicle slip performance. The torque is limited in a period of 1ms to improve the driving performance of the vehicle under slip conditions.

[0133] This embodiment calculates the vehicle acceleration based on the motor speed, and can actually adjust the motor output torque based on the vehicle acceleration, so that the vehicle maintains a relatively ideal acceleration for driving, improving the vehicle driving experience. At the same time, when the motor speed changes drastically, if the motor control is unstable, the motor overcurrent is likely to occur. This embodiment can limit the torque in advance based on the acceleration for working conditions with a very high motor speed change rate, reducing the risk of motor overcurrent when the vehicle is in a very serious slipping condition.

[0134] This embodiment determines the maximum torque limit according to the acceleration range, so that a more comfortable driving experience can be achieved in the normal acceleration range. When the vehicle slips, the maximum torque limit can be significantly reduced to increase the torque limit and avoid motor overcurrent.

[0135] like Figure 6 The flowchart of a vehicle drive motor torque control method according to the best embodiment of the present invention is shown, comprising:

[0136] Step S601, determining the range of the actual acceleration a of the vehicle, if it is in the normal acceleration range (0-first acceleration threshold), executing step S602, otherwise, if it is in the vehicle slipping range (above the first acceleration threshold), executing step S606;

[0137] Step S602, input the driving mode (sport / comfort, etc.) from the vehicle controller, and determine the vehicle expected acceleration aset according to the vehicle speed Vspeed and the driving mode;

[0138] Step S603, according to the expected acceleration of the vehicle and the actual speed of the motor, the corresponding maximum torque limit Tacc is obtained from the normal acceleration maximum torque limit table, and step S605 is executed;

[0139] Step S604, when the actual acceleration of the vehicle is ≥ the second acceleration threshold value Alim, and the duration reaches the limit value, the maximum torque limit value Tlim corresponding to the actual motor speed and the actual vehicle acceleration is obtained from the maximum torque limit value table of the driving motor without current flow, and step S606 is executed, wherein the maximum torque limit value of the driving motor without current flow is determined based on the motor speed and the vehicle acceleration, and the vehicle acceleration can be divided into several intervals;

[0140] Step S605, obtaining the required torque Tcurr;

[0141] Step S606: Take the smaller of the maximum torque limit and the required torque to obtain the final output torque Tout.

[0142] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0143] like Figure 7 The figure shows a hardware structure diagram of an electronic device of the present invention, including:

[0144] at least one processor 701; and,

[0145] A memory 702 that is communicatively connected to at least one of the processors 701; wherein,

[0146] The memory 702 stores instructions that can be executed by at least one of the processors. The instructions are executed by at least one of the processors so that the at least one processor can execute the vehicle drive motor torque control method as described above.

[0147] Figure 7 A processor 701 is taken as an example.

[0148] The electronic device may further include: an input device 703 and a display device 704 .

[0149] The processor 701, the memory 702, the input device 703 and the display device 704 may be connected via a bus or other means, and the figure takes the connection via a bus as an example.

[0150] The memory 702 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules corresponding to the vehicle drive motor torque control method in the embodiment of the present application, for example, Figure 2 , Figure 3The processor 701 executes various functional applications and data processing by running the non-volatile software programs, instructions and modules stored in the memory 702, that is, the vehicle drive motor torque control method in the above embodiment is implemented.

[0151] The memory 702 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required by at least one function; the data storage area may store data created according to the use of the vehicle drive motor torque control method, etc. In addition, the memory 702 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 702 may optionally include a memory remotely arranged relative to the processor 701, and these remote memories may be connected to a device for executing the vehicle drive motor torque control method via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0152] The input device 703 can receive user clicks and generate signal inputs related to user settings and function controls of the vehicle drive motor torque control method. The display device 704 can include display devices such as a display screen.

[0153] The one or more modules are stored in the memory 702 , and when executed by the one or more processors 701 , the vehicle drive motor torque control method in any of the above method embodiments is executed.

[0154] The present invention can actually adjust the motor output torque based on the vehicle acceleration by calculating the vehicle acceleration, so that the vehicle can maintain a relatively ideal acceleration for driving, and improve the vehicle driving experience. At the same time, when the motor speed changes drastically, if the motor control is unstable, the motor overcurrent is likely to occur. The present invention calculates the torque limit based on the acceleration, so the torque can be limited in advance for the working conditions with a very high motor speed change rate, reducing the risk of motor overcurrent when the vehicle is in a very serious slipping condition.

[0155] An embodiment of the present invention provides a storage medium, wherein the storage medium stores computer instructions. When a computer executes the computer instructions, the storage medium is used to execute all steps of the vehicle drive motor torque control method as described above.

[0156] In the context of the present disclosure, a storage medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or apparatus. The storage medium may be a machine-readable signal medium or a machine-readable storage medium. Alternatively, the storage medium may be a non-temporary computer-readable storage medium, for example, a non-temporary computer-readable storage medium may be a ROM, a random access memory (Random Access Memory, RAM), a compact disc read-only memory (Compact Disc ROM, CD-ROM), a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0157] An embodiment of the present invention provides a computer program product, including a computer program / instruction, which implements the vehicle drive motor torque control method as described above when executed by a processor.

[0158] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A vehicle drive motor torque control method, characterized in that: include: Obtain the required torque of the drive motor, the actual speed of the motor, and the actual acceleration of the vehicle; Determining a corresponding maximum torque limit value according to the actual motor speed and the actual acceleration; The minimum value between the required torque and the maximum torque limit is taken as the final output torque, and the final output torque is used to control the drive motor.

2. The vehicle drive motor torque control method according to claim 1, characterized in that: The determining the corresponding maximum torque limit value according to the actual motor speed and the actual acceleration includes: Determine the interval in which the actual acceleration is located, and if the actual acceleration is less than a first acceleration threshold, determine that the actual acceleration is in a normal acceleration interval; otherwise, determine that the actual acceleration is in a vehicle slip interval; Based on the interval in which the actual acceleration is located, the corresponding maximum torque limit is determined according to the actual motor speed and the expected acceleration, or the corresponding maximum torque limit is determined according to the actual motor speed and the actual acceleration.

3. The vehicle drive motor torque control method according to claim 2, characterized in that: The determining the corresponding maximum torque limit value according to the actual motor speed and the expected acceleration includes: When the actual acceleration is within the normal acceleration range, obtaining a current driving mode and a normal acceleration maximum torque limit table; Acquiring an actual vehicle speed, and determining an expected acceleration according to the current driving mode and the actual vehicle speed; From the normal acceleration maximum torque limit table, find the maximum torque limit corresponding to the actual speed of the motor and the expected acceleration.

4. The vehicle drive motor torque control method according to claim 3, characterized in that: The driving modes include a normal driving mode and a sports mode; At the same vehicle speed, the expected acceleration calculated according to the sports mode is greater than or equal to the expected acceleration calculated according to the normal driving mode.

5. The vehicle drive motor torque control method according to claim 2, characterized in that: The determining the corresponding maximum torque limit value according to the actual motor speed and the actual acceleration includes: When the actual acceleration is in the vehicle slip range, obtaining a maximum torque limit value table of the drive motor without overcurrent; The maximum torque limit corresponding to the actual rotation speed of the motor and the actual acceleration is searched from the maximum torque limit table of the driving motor without overcurrent.

6. The vehicle drive motor torque control method according to claim 5, characterized in that: The step of searching the maximum torque limit corresponding to the actual motor speed and the actual acceleration from the maximum torque limit table of the driving motor without overcurrent includes: When the actual acceleration is greater than or equal to the second acceleration threshold and the duration exceeds the time threshold, the maximum torque limit corresponding to the actual motor speed and the actual acceleration is searched from the drive motor non-overcurrent maximum torque limit table.

7. The vehicle drive motor torque control method according to claim 5, characterized in that: In the table of maximum torque limits for the drive motor without overcurrent, for the same vehicle speed, the maximum torque limit corresponding to the larger actual acceleration is less than or equal to the maximum torque limit corresponding to the smaller actual acceleration.

8. An electronic device, characterized in that: include: at least one processor; as well as, a memory communicatively connected to at least one of the processors; wherein, The memory stores instructions that can be executed by at least one of the processors, and the instructions are executed by at least one of the processors to enable at least one of the processors to execute the vehicle drive motor torque control method according to any one of claims 1 to 7.

9. A storage medium, characterized in that: The storage medium stores computer instructions, and when a computer executes the computer instructions, it is used to execute all steps of the vehicle drive motor torque control method as described in any one of claims 1 to 7.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instruction is executed by a processor, the vehicle drive motor torque control method as described in any one of claims 1 to 7 is implemented.

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