Request torque control method and device, electronic equipment and vehicle

Abstract

According to the request torque control method and device, the electronic equipment and the vehicle, the final request torque and the final motor state are determined to introduce a new torque reversing scene into the limiting torque determination process, and the motor limiting torque and the battery limiting torque after torque reversing are added into the torque limiting control process in advance; according to the method, the initial request torque is limited by using the motor limiting torque and the battery limiting torque after the torque is reversed, and the obtained limiting request torque can ensure that power overshoot cannot occur and overcharge or undervoltage of a power battery cannot be caused under the working condition that the torque is reversed while the obtained limiting request torque meets the conventional energy management requirement. And if yes, the vehicle is driven according to the actual request torque determined by the limited request torque, the safety of the motor and the power battery can be protected when the torque is reverse, and the use experience of a user is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a method, device, electronic device and vehicle for controlling a requested torque. Background Art

[0002] The vehicle uses energy management to avoid overshoot of the actual power of the motor, thereby preventing the battery from being in an undervoltage or overvoltage state and ensuring the safety of the battery. The energy management strategy can adapt to most control scenarios, but for torque commutation scenarios, due to the lack of control strategies for special scenarios such as torque commutation, the continued use of ordinary control strategies will cause the torque limit to fail, thereby causing damage to the motor or battery, resulting in a reduction in the service life of the motor or battery. Summary of the invention

[0003] In view of this, the purpose of the present application is to propose a control method, device, electronic device and vehicle for requesting torque, by introducing the scenario after torque reversal into the torque limiting control process, to ensure that the torque request based on the limited request torque will not cause damage to the motor or battery.

[0004] Based on the above purpose, the present application provides a method for controlling a requested torque, comprising: Determining an initial requested torque and a motor speed, and correcting the initial requested torque according to a current gear and the motor speed to obtain a final requested torque; determining a final motor state according to the motor speed and the final requested torque; determining a motor limit torque according to the current gear, the initial request torque and the final request torque, and determining a battery limit torque according to the initial request torque and the final motor state; The initial request torque is limited according to the motor limit torque and the battery limit torque to obtain a limited request torque, and an actual request torque is determined according to the limited request torque.

[0005] Optionally, the correcting the initial requested torque according to the current gear and the motor speed to obtain a final requested torque includes: In response to the current gear being a forward gear, and the rotational speed direction of the motor rotational speed and the torque direction of the initial requested torque being both in a negative direction, the torque direction of the initial requested torque is reversed to obtain the final requested torque having a positive torque direction; In response to the current gear being a reverse gear and the rotation speed direction of the motor speed being a negative direction, the torque direction of the initial requested torque is reversed to obtain the final requested torque; In response to the current gear being the reverse gear, and the speed direction of the motor speed and the torque direction of the initial requested torque being both positive, the torque direction of the initial requested torque is reversed to obtain the final requested torque with a negative torque direction.

[0006] By determining the final requested torque, a data basis is provided for the subsequent determination of the motor limit torque after inversion. By determining the final requested torque and the final motor state, a new torque inversion scenario is introduced into the process of determining the limit torque, avoiding the control effect being contrary to the user's expectations and improving the user's driving experience.

[0007] Optionally, determining a final motor state according to the motor speed and the final requested torque includes: determining a torque direction of the final requested torque and a speed direction of the motor speed; In response to the torque direction and the speed direction being opposite, determining the regeneration state as the final motor state; In response to the torque direction and the speed direction being the same, a driving state is determined as the final motor state.

[0008] By determining the final motor state, a data basis is provided for the subsequent determination of the battery limit torque after inversion. By determining the final request torque and the final motor state, a new torque inversion scenario is introduced into the determination process of the limit torque, avoiding the control effect being contrary to the user's expectations and improving the user's driving experience.

[0009] Optionally, determining the motor limit torque according to the current gear, the initial requested torque and the final requested torque includes: In response to the current gear being a forward gear and the final requested torque being in a negative direction, determining a preset maximum motor negative torque as the motor limit torque; In response to the current gear being a forward gear and the final requested torque being in a positive direction, determining a torque direction of the initial requested torque; In response to the torque direction of the initial request torque being a positive direction, determining a preset maximum motor positive torque as the motor limit torque; In response to the torque direction of the initial request torque being a negative direction, determining the opposite of a preset maximum motor positive torque as the motor limit torque; In response to the current gear being a reverse gear and the final requested torque being in a positive direction, determining the reverse of a preset maximum motor positive torque as the motor limit torque; In response to the current gear being a reverse gear and the final requested torque being in a negative direction, determining a torque direction of the initial requested torque; In response to the torque direction of the initial request torque being a positive direction, determining the opposite of a preset maximum motor negative torque as the motor limit torque; In response to the torque direction of the initial request torque being a negative direction, a preset maximum motor negative torque is determined as the motor limit torque.

[0010] By determining the motor limit torque in different scenarios, it is ensured that the actual torque output in different scenarios will not exceed the capacity range of the motor, so as to ensure that the motor will not be damaged during the torque control process.

[0011] Optionally, determining the battery limit torque according to the initial request torque and the final motor state includes: In response to the final motor state being a driving state, determining a preset maximum driving positive torque as the battery limit torque; In response to the final motor state being a regeneration state, determining a torque direction of the initial requested torque; In response to the torque direction of the initial request torque being a positive direction, determining the opposite of a preset maximum recovery negative torque as the battery limit torque; In response to the torque direction of the initial request torque being a negative direction, a preset maximum regeneration negative torque is determined as the battery limit torque.

[0012] By determining the battery limit torque in different scenarios, it is ensured that the actual torque output in different scenarios will not exceed the battery's capacity range, so as to ensure that the motor will not be damaged during the torque control process.

[0013] Optionally, limiting the initial request torque according to the motor limit torque and the battery limit torque to obtain the limited request torque includes: In response to the initial request torque being in a positive direction, determining a minimum value of the motor limit torque and the battery limit torque as an actual limit torque, and determining a minimum value of the initial request torque and the actual limit torque as the limit request torque; In response to the initial request torque being in a negative direction, determining a maximum value of the motor limit torque and the battery limit torque as an actual limit torque, and determining a maximum value of the initial request torque and the actual limit torque as the limit request torque; The limited requested torque and the initial requested torque have the same torque direction.

[0014] The smaller absolute value of the motor limit torque and the battery limit torque is determined as the limit request torque to ensure that the actual torque output in different scenarios does not exceed the capacity range of the battery and the motor, so as to ensure that the motor and the battery are not damaged during the torque control process.

[0015] Optionally, determining the actual requested torque according to the limited requested torque comprises: In response to the current gear, the torque direction of the initial request torque and the speed direction of the motor speed satisfying a preset inversion condition, determining the inverse of the limited request torque as the actual request torque; In response to the current gear, the torque direction of the initial request torque, and the speed direction of the motor speed not satisfying a preset inversion condition, the limited request torque is determined as the actual request torque.

[0016] Since the torque reversal condition is introduced in the expanded torque limit control scheme, the limited request torque needs to be reversed when the reversal condition is met to ensure that the driving direction is consistent with the expected direction corresponding to the current gear, avoid unexpected reverse driving, and ensure the user's safety.

[0017] Based on the same inventive concept, the present disclosure also provides a control device for requesting torque, comprising: The final torque determination module is configured to: determine an initial request torque and a motor speed, and correct the initial request torque according to a current gear and the motor speed to obtain a final request torque.

[0018] A final state determination module is configured to: determine a final motor state according to the motor speed and the final requested torque; a limit torque determination module configured to: determine a motor limit torque according to the current gear, the initial request torque and the final request torque, and determine a battery limit torque according to the initial request torque and the final motor state; The actual request determination module is configured to: limit the initial request torque according to the motor limit torque and the battery limit torque to obtain a limited request torque, and determine the actual request torque according to the limited request torque.

[0019] Based on the same inventive concept, the present disclosure also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor implements the method as described above when executing the computer program.

[0020] Based on the same inventive concept, the present disclosure also provides a vehicle, comprising the control device or electronic device for requesting torque as described above.

[0021] As can be seen from the above, the control method, device, electronic device and vehicle of the request torque provided by the present application can correct the initial request torque according to the current gear and the motor speed after determining the initial request torque and the motor speed to obtain the final request torque, and determine the final motor state according to the motor speed and the final request torque; determine the motor limit torque according to the current gear, the initial request torque and the final request torque, and determine the battery limit torque according to the initial request torque and the final motor state; limit the initial request torque according to the motor limit torque and the battery limit torque to obtain the limited request torque, and determine the actual request torque according to the limited request torque. By determining the final request torque and the final motor state, a new torque reversal scenario is introduced into the determination process of the limited torque, the motor limit torque and the battery limit torque after the torque reversal are added to the control process of the torque limitation in advance, and the initial request torque is limited by the motor limit torque and the battery limit torque after the torque reversal, and the obtained limited request torque can meet the conventional energy management requirements while ensuring that power overshoot does not occur under the torque reversal condition, and will not cause overcharging or undervoltage of the power battery. The vehicle is driven according to the actual requested torque determined according to the limited requested torque, which can protect the safety of the motor and the power battery when the torque is reversed, thereby improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the present application or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 A flow chart of a method for controlling torque according to an embodiment of the present application; Figure 2 A schematic diagram of a torque reversing control strategy according to an embodiment of the present application; Figure 3 A flow chart for determining the final requested torque for an embodiment of the present application; Figure 4 A flow chart for determining the final motor state for an embodiment of the present application; Figure 5 A flow chart for determining the motor limiting torque according to an embodiment of the present application; Figure 6 A flow chart for determining the motor limiting torque according to an embodiment of the present application; Figure 7 A flow chart for determining a limited requested torque for an embodiment of the present application; Figure 8 This is a flow chart of determining the actual requested torque according to the limited requested torque according to an embodiment of the present application; Fig. 9 This is a schematic diagram of the structure of a control device for requesting torque according to an embodiment of the present application; Fig.10 It is a schematic diagram of the structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0025] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should be the usual meanings understood by people with ordinary skills in the field to which the present application belongs. The "first", "second" and similar words used in the embodiments of the present application do not represent any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing in front of the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0026] It should be understood herein that any number of elements in the drawings is for illustration rather than limitation, and any naming is only for distinction rather than having any limiting meaning.

[0027] Based on the description of the above background technology, the related technology also has the following situations: The vehicle controller of new energy vehicles needs to constantly judge whether the requested torque needs to be reversed based on the gear status and the actual motor speed direction to ensure that the actual driving direction of the vehicle is consistent with the gear status. According to the vehicle's front direction, when the vehicle is driving in the front direction, it is defined as the positive direction of forward travel (Forward); when the vehicle is driving in the opposite direction of the front (toward the rear), it is defined as the negative direction of reverse travel (Reverse); at the same time, the user's desired driving direction is determined according to the gear position. The forward gear (D) represents the driver's desired direction as the positive direction, and the reverse gear (R) represents the driver's desired direction as the negative direction.

[0028] In order to avoid the actual driving direction of the vehicle being inconsistent with the gear state, the requested torque under specific working conditions needs to be inverted, that is, the final torque = requested torque × (-1) to ensure that the vehicle control meets the user's expectations.

[0029] In the related art, the default direction of the motor speed in the forward gear is positive, and the direction of the motor speed in the reverse gear is negative. The requested torque also has two situations, positive and negative directions, so there are a total of 4 control strategies. In the forward gear, when the motor speed and the requested torque are both in the positive direction, it is determined that the motor state is the driving state, and the requested torque value is limited to the maximum driving positive torque (VCU_max_drive) of the power battery and the maximum motor positive torque (MCU_Max) of the motor. At this time, it is necessary to ensure that the requested torque is less than or equal to min (VCU_max_drive, MCU_Max), because the maximum driving positive torque indicates the maximum equivalent positive torque (equivalent torque value corresponding to the maximum power) that can be output when the power battery is working normally; the maximum motor positive torque indicates the maximum torque value that can be output when the motor is working normally. If the requested torque is greater than the maximum driving positive torque, it will cause the power battery to be undervoltage. If the requested torque is greater than the maximum motor positive torque, it will cause the motor to overshoot (overload operation). In order to ensure the safety of the motor and the power battery, the requested torque needs to be limited to a range less than or equal to min (VCU_max_drive, MCU_Max) when controlling the requested torque. Among them, VCU_max_drive and MCU_Max are both positive values.

[0030] In the forward gear, when the motor speed is in the positive direction and the requested torque is in the negative direction, the motor state is determined to be the regeneration state, and the requested torque value is limited by the maximum regeneration negative torque of the power battery (VCU_min_regenerate) and the maximum motor negative torque of the motor (MCU_Min). It is necessary to ensure that the requested torque is greater than or equal to max (VCU_min_regenerate, MCU_Min) to avoid damage to the motor and battery. Among them, VCU_min_regenerate and MCU_Min are both negative values.

[0031] Similarly, in reverse gear, when the motor speed and requested torque are both in the negative direction, the motor state is determined to be the driving state, and the requested torque value is limited to MCU_Max×(-1) and VCU_min_regenerate. It is necessary to ensure that the requested torque is greater than or equal to max (VCU_min_regenerate, MCU_Max×(-1)) to avoid damage to the motor and battery.

[0032] In reverse gear, when the motor speed is in the negative direction and the requested torque is in the positive direction, the motor state is determined to be the recovery state, and the requested torque value is limited to MCU_Min×(-1) and VCU_max_drive. It is necessary to ensure that the requested torque is less than or equal to min (VCU_min_regenerate, MCU_Max×(-1)) to avoid damage to the motor and battery.

[0033] It can be seen that the vehicles in the related art use simple torque limitation to avoid overshoot of the actual power of the motor, thereby avoiding the battery from being in an undervoltage or overvoltage state, and ensuring the safety of the battery. The simple torque limitation strategy can adapt to most control scenarios, but for working conditions that may cause torque reversal, such as dynamic shifting (wherein the dynamic shifting function is to directly shift DR or RD without passing through neutral. It can be seen that dynamic shifting will change the current gear of the vehicle and the user's desired direction.) or uphill rolling and other working conditions, the torque control strategy in the related art lacks a solution to deal with this situation. Due to the lack of control strategies for special scenarios such as torque commutation, the continued use of ordinary control strategies will cause the torque limitation to fail, which will damage the motor or battery, resulting in a reduction in the service life of the motor or battery.

[0034] The control method, device, electronic device and vehicle of the request torque provided by the embodiment of the present application can correct the initial request torque according to the current gear and the motor speed after determining the initial request torque and the motor speed to obtain the final request torque, and determine the final motor state according to the motor speed and the final request torque; determine the motor limit torque according to the current gear, the initial request torque and the final request torque, and determine the battery limit torque according to the initial request torque and the final motor state; limit the initial request torque according to the motor limit torque and the battery limit torque to obtain the limited request torque, and determine the actual request torque according to the limited request torque. By determining the final request torque and the final motor state, a new torque reversal scenario is introduced into the determination process of the limited torque, the motor limit torque and the battery limit torque after the torque reversal are added to the control process of the torque limitation in advance, and the initial request torque is limited by the motor limit torque and the battery limit torque after the torque reversal, so that the obtained limited request torque can meet the conventional energy management requirements while ensuring that power overshoot does not occur under the torque reversal condition, and does not cause overcharging or undervoltage of the power battery. The vehicle is driven according to the actual requested torque determined according to the limited requested torque, which can protect the safety of the motor and the power battery when the torque is reversed, thereby improving the user experience.

[0035] The method for controlling the requested torque provided by the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0036] In some embodiments, Figure 1 As shown, the control method of requesting torque includes: Step 101: Determine an initial requested torque and a motor speed, and modify the initial requested torque according to a current gear and the motor speed to obtain a final requested torque.

[0037] In specific implementation, the initial requested torque is the original torque request directly corresponding to the user control operation. The current gear is the gear position of the gear lever at the current moment. The motor state includes a driving state and a recovery state. In the driving state, the motor outputs torque to drive the vehicle. At this time, the direction of the motor speed is the same as the direction of the requested torque; the recovery state is that the vehicle drives the motor to rotate and the motor generates electricity. At this time, the torque when the motor generates electricity will become the resistance of the vehicle. At this time, the direction of the motor speed is opposite to the direction of the requested torque, so the motor state can be determined according to the torque direction of the requested torque and the speed direction of the motor speed.

[0038] According to the definition of the driving state, when the torque direction and the speed direction are the same, the driving state is determined as the initial motor state. According to the definition of the recovery state, when the torque direction and the speed direction are opposite, the recovery state is determined as the initial motor state.

[0039] Considering the occurrence of special working conditions such as dynamic shifting or rolling, since the motor speed cannot change direction instantly when the gear changes, the motor speed may be in the negative direction when in the forward gear. In the reverse gear, the motor speed may be in the positive direction. And the torque direction of the requested torque may be in both positive and negative directions. Figure 2 As shown in , there are a total of 8 control conditions, among which the forward gear and reverse gear correspond to four working conditions respectively. However, it is necessary to make certain corrections to the newly added 4 working conditions (2 working conditions with negative speed in the forward gear and 2 working conditions with positive speed in the reverse gear), and obtain the following Figure 2 As shown in the torque reversal control schematic diagram, the final motor state is the motor state after the torque reversal control, and the corresponding initial motor state is the motor state before the torque reversal control.

[0040] For the four cases corresponding to the forward gear, theoretically, the initial request torque and the final request torque are the same, that is, the initial request torque = the final request torque × 1. However, Figure 2 The fourth working condition of the forward gear (corresponding to Figure 2In the 4th row of the table in the figure), since the motor speed is in the negative direction at this time, the initial requested torque is in the negative direction, and the final requested torque corresponding to the initial requested torque is a negative torque. At this time, the vehicle will accelerate backwards, and the initial driving direction and the final driving direction are both negative directions, that is, without changing the control command, the vehicle does not have the possibility of driving in the positive direction, and the expected direction corresponding to the forward gear is the positive direction. At this time, it is necessary to reverse the initial requested torque, that is, let the final requested torque = initial requested torque × (-1). After the reverse control, the vehicle changes from accelerating backwards to decelerating backwards, and accelerates forward after decelerating to a speed of 0. The driving direction changes from the initial negative driving direction to the final positive driving direction, which meets the positive direction control expectations of the forward gear.

[0041] For the four situations corresponding to the reverse gear, the initial request torque and the final request torque have a default inverse relationship, that is, the final request torque = initial request torque × (-1), but Figure 2 The second working condition of the reverse gear (corresponding to Figure 2 In the sixth row of the table in the figure, since the motor speed is in the positive direction and the initial requested torque is in the negative direction at this time, the final requested torque after reversing the initial requested torque is a positive torque. At this time, the vehicle will accelerate forward, and the initial driving direction and the final driving direction are both positive directions, that is, without changing the control command, the vehicle does not have the possibility of driving in the negative direction, and the expected direction corresponding to the reverse gear is the negative direction. At this time, the initial requested torque needs to be reversed again, that is, the final requested torque = initial requested torque × 1 (reversing twice is equivalent to keeping the original value). After the reverse control, the vehicle changes from accelerating forward to decelerating forward, and accelerates backward after decelerating to a speed of 0. The driving direction changes from the initial positive driving direction to the final negative driving direction, which meets the negative direction control expectation of the reverse gear.

[0042] Therefore, the process of correcting the initial requested torque according to the current gear and motor speed is as follows: when the current gear is the forward gear, only the initial requested torque is in the negative direction and the motor speed is in the negative direction (corresponding to Figure 2 When the current gear is the reverse gear, only the initial request torque is in the negative direction and the motor speed is in the positive direction (corresponding to Figure 2 In the case of the operating condition (row 6 in the table), the original value of the requested torque is retained, and in the other cases, the requested torque is reversed. Figure 2 The operating conditions corresponding to the 4th, 5th, 7th and 8th rows of the table are used to reverse the initial requested torque.

[0043] Step 102: Determine a final motor state according to the motor speed and the final requested torque.

[0044] In specific implementation, after determining the final requested torque, the final motor state is determined according to the definition of the driving state and the recovery state. The process of determining the final motor state according to the motor speed and the final requested torque includes: when the torque direction of the final requested torque and the speed direction of the motor speed are the same, the driving state is determined as the final motor state. When the torque direction of the final requested torque and the speed direction of the motor speed are opposite, the recovery state is determined as the final motor state.

[0045] Optionally, the process of determining the final motor state further includes: in the forward gear, if the final request torque and the initial request torque have the same torque direction (corresponding to Figure 2 In the forward gear, if the final request torque and the initial request torque have opposite torque directions (corresponding to Figure 2 In the case of row 4 in the figure, since the motor speed is in the negative direction at this time, the torque direction of the final requested torque is in the positive direction. At this time, the torque direction and the speed direction are opposite, and the reverse state of the initial motor state is determined as the final torque state, that is, the initial motor state of the driving state is transformed into the final motor state in the recovery state.

[0046] In reverse gear, if the final request torque is opposite to the initial request torque (corresponding to Figure 2 In the case of rows 4, 7, and 8 in the figure, the reverse state of the initial motor state is determined as the final torque state. In reverse gear, if the final request torque and the initial request torque have the same torque direction (corresponding to Figure 2 ), the initial motor state is determined as the final torque state, that is, the initial motor state and the final torque state are both recovery states.

[0047] After introducing the forward gear negative speed and reverse gear positive speed conditions caused by dynamic shifting into the torque control process, the new torque reversal scenario is introduced into the torque limit determination process by determining the final request torque and the final motor state, so as to avoid the control effect being contrary to the user's expectations and improve the user's driving experience. Among them, the old control strategy is not to reverse in the forward gear and to reverse all in the reverse gear.

[0048] Step 103 : determining the motor limit torque according to the current gear, the initial request torque and the final request torque, and determining the battery limit torque according to the initial request torque and the final motor state.

[0049] In specific implementation, after introducing the new torque reversal scenario, it is also necessary to determine a new torque limit strategy for the negative speed of the forward gear and the positive speed of the reverse gear caused by dynamic gear shifting. Since VCU_max_drive and VCU_min_regenerate have motor state attributes (the drive state uses VCU_max_drive for torque limit, and the recovery state uses VCU_min_regenerate for torque limit), while MCU_Max and MCU_Min do not have motor state attributes, but are simply upper and lower limit ranges, so if the torque limit strategy in the relevant technology is adopted, the following problems will occur: for Figure 2 In the case corresponding to the third row, when the current gear is D gear, the speed direction of the motor is negative, the torque direction of the initial requested torque is positive, and the torque direction of the final requested torque is positive, and the final motor state is a recovery state. If the torque limitation strategy in the relevant technology is adopted, the influence of the motor state will not be considered. When the initial requested torque is positive, VCU_max_drive (because VCU_max_drive itself is a positive value) will be used for torque limitation control. However, it is inappropriate to use VCU_max_drive, which may cause battery power overshoot, thereby causing battery overcharging problems.

[0050] for Figure 2 In the case corresponding to the 4th row, when the current gear is D gear, the speed direction of the motor speed is negative, the torque direction of the initial requested torque is negative, and the torque direction of the final requested torque is positive. If the torque limit strategy in the relevant technology is adopted, MCU_Min will be used (because MCU_Min itself is a negative value) for torque limit control when the initial requested torque is negative. However, it is inappropriate to use MCU_Min, as it may cause the motor torque to exceed the upper limit, causing the motor to overload and damage the motor.

[0051] for Figure 2 In the case corresponding to the 5th row, when the current gear is R gear, the speed direction of the motor speed is positive, the torque direction of the initial requested torque is positive, and the torque direction of the final requested torque is positive and negative. The final motor state is a recovery state. If the torque limitation strategy in the relevant technology is adopted, the influence of the motor state will not be considered. When the initial requested torque is positive, VCU_max_drive (because VCU_max_drive itself is a positive value) will be used for torque limitation control. However, it is inappropriate to use VCU_max_drive, which may cause power overshoot during battery charging, thereby causing battery overcharging problems.

[0052] for Figure 2In the case corresponding to the 6th row, when the current gear is R gear, the speed direction of the motor speed is positive, the torque direction of the initial requested torque is negative, and the torque direction of the final requested torque is negative. If the torque limit strategy in the relevant technology is adopted, MCU_Max×(-1) will be used when the initial requested torque is negative (because MCU_Max needs to be used for torque limit after inversion, and MCU_Max×(-1) that converts MCU_Max to a negative value is needed when the initial requested torque is negative) to perform torque limit control, but using MCU_Max×(-1) is inappropriate, as it may cause the motor torque to exceed the lower limit, causing the motor to overload and damage the motor.

[0053] It is necessary to redetermine the motor limit torque of each control strategy based on the current gear, initial requested torque and final requested torque, and redetermine each battery limit torque based on the current gear and final motor state (mainly for the four newly introduced operating conditions of negative speed in forward gear and positive speed in reverse gear, the original strategies can be maintained for the other four operating conditions).

[0054] for Figure 2 In the case corresponding to the third row in , when the current gear is D gear, the speed direction of the motor speed is negative, the torque direction of the initial request torque is positive, and the torque direction of the final request torque is positive. The final motor state is the recovery state. When performing torque limit control, use VCU_min_regenerate corresponding to the final motor state to limit the torque. However, since the torque direction of the initial request torque is positive, VCU_min_regenerate×(-1) should be used to limit the initial request. Before the torque reversal judgment, VCU_min_regenerate×(-1) is used in advance to limit the initial request torque, so that the absolute value of the actual request torque after the limit is less than or equal to |VCU_min_regenerate|. When the final state is the recovery state, since the torque value after the limit will not exceed the absolute value of the maximum recovery negative torque, it means that the battery overcharge problem will not occur during the recovery charging process, thereby protecting the safety of the battery.

[0055] for Figure 2In the case corresponding to the 4th row in the figure, when the current gear is D gear, the speed direction of the motor speed is negative, the torque direction of the initial requested torque is negative, and the torque direction of the final requested torque is positive, then the MCU_Max corresponding to the final requested torque should be used for limit control. However, since the torque direction of the initial requested torque is negative, MCU_Max×(-1) should be used to limit the initial request, so that before the torque commutation judgment, the initial requested torque is limited in advance by MCU_Max×(-1), so that the absolute value of the actual requested torque after limitation is less than or equal to |MCU_Max×(-1)|. When the final requested torque is obtained by inverting the limited torque, the actual output torque will not exceed the local value of the maximum motor positive torque MCU_Max output in the positive direction of the motor, and the motor will not be overloaded and damaged.

[0056] for Figure 2 In the case corresponding to the 5th row in the figure, when the current gear is the R gear, the speed direction of the motor speed is positive, the torque direction of the initial requested torque is positive, and the torque direction of the final requested torque is positive and negative. The final motor state is the recovery state. When performing torque limit control, the VCU_min_regenerate corresponding to the final motor state should be used for torque limit. However, since the torque direction of the initial requested torque is positive, VCU_min_regenerate×(-1) should be used to limit the initial requested torque, so that the absolute value of the actual requested torque after the limit is less than or equal to |VCU_min_regenerate|, so that before the commutation judgment of the initial requested torque is performed, VCU_min_regenerate×(-1) is used in advance to limit the initial requested torque. When the final motor state is the recovery state, the actual equivalent charging torque is less than the absolute value of VCU_min_regenerate, which means that the battery overcharge problem will not occur during the recovery charging process, thereby protecting the safety of the battery.

[0057] for Figure 2 In the case corresponding to the 6th row, when the current gear is R gear, the speed direction of the motor speed is positive, the torque direction of the initial requested torque is negative, and the torque direction of the final requested torque is negative, then the MCU_Min corresponding to the final requested torque should be used for torque limit control, so that before the torque commutation judgment, the initial requested torque is limited in advance with the motor's maximum negative torque MCU_Min. When the limited torque is inverted to obtain the final requested torque, since the torque direction has not changed, the actual output torque will not exceed the absolute value of the maximum motor negative torque MCU_Min of the motor's negative output, and the motor will not be overloaded and will not be damaged.

[0058] Step 104 : The initial request torque is limited according to the motor limit torque and the battery limit torque to obtain a limited request torque, and the actual request torque is determined according to the limited request torque.

[0059] In specific implementation, after determining the motor limit torque and the battery limit torque, the motor limit torque and the battery limit torque are used to limit the initial request torque. When the initial request torque is in the positive direction, the minimum value of the motor limit torque and the battery limit torque is determined as the actual limit torque, and the minimum value of the initial request torque and the actual limit torque is determined as the limited request torque; if the initial request torque is in the negative direction, the maximum value of the motor limit torque and the battery limit torque is determined as the actual limit torque, and the maximum value of the initial request torque and the actual limit torque is determined as the limited request torque, ensuring that the output in either positive or negative directions will not exceed the capacity range of the motor and the power battery, so as to ensure that the actual request torque determined according to the limited request torque will not cause motor power overshoot, nor will it cause overcharging or undervoltage of the power battery, thereby reducing the damage to the motor or the power battery during the control process, so as to protect the motor and the power battery and improve the user experience.

[0060] The control method of the request torque provided in the embodiment of the present application introduces a new torque reversal scenario into the determination process of the limited torque by determining the final request torque and the final motor state, adds the motor limited torque and the battery limited torque after the torque reversal to the control process of the torque limit in advance, and uses the motor limited torque and the battery limited torque after the torque reversal to limit the initial request torque. The obtained limited request torque can meet the conventional energy management requirements while ensuring that power overshoot will not occur under the torque reversal condition, and will not cause overcharging or undervoltage of the power battery. The vehicle is driven according to the actual request torque determined by the limited request torque, which can protect the safety of the motor and the power battery when the torque is reversed, and improve the user experience.

[0061] In some embodiments, Figure 3 As shown, the initial requested torque is corrected according to the current gear and motor speed to obtain the final requested torque, including: Step 301: In response to the current gear being the forward gear, and the speed direction of the motor speed and the torque direction of the initial requested torque being both negative, the torque direction of the initial requested torque is reversed to obtain a final requested torque with a positive torque direction.

[0062] In specific implementation, when the current gear is the forward gear and the speed direction of the motor speed and the torque direction of the initial requested torque are both in the negative direction, it will manifest as a state of backward acceleration. At the current moment or after a period of time, the driving direction is still backward, while the expected direction of the forward gear is forward. Therefore, it is necessary to reverse the torque direction of the initial requested torque to obtain the final requested torque with a positive torque direction, so as to achieve deceleration backward and then forward acceleration. The final driving direction is positive, which meets the user's expectations and avoids driving risks caused by unexpected driving directions.

[0063] Step 302: In response to the current gear being the reverse gear and the motor speed being in a negative direction, the torque direction of the initial requested torque is reversed to obtain a final requested torque.

[0064] In specific implementation, when the current gear is the reverse gear and the speed direction of the motor is in the negative direction, it is a conventional control scheme, the inversion control strategy remains unchanged, and the initial requested torque is reversed. Then the torque direction of the initial requested torque is reversed to obtain the final requested torque.

[0065] Step 303: In response to the current gear being the reverse gear, and the motor speed direction and the initial requested torque direction are both positive, the torque direction of the initial requested torque is reversed to obtain a final requested torque with a negative torque direction.

[0066] In specific implementation, if the current gear is the reverse gear, and the speed direction of the motor speed and the torque direction of the initial requested torque are both in the positive direction, it is also necessary to reverse them in the reverse gear as usual, and the final requested torque in the negative direction will be obtained, thereby achieving negative acceleration after positive deceleration, which is the same as the expected direction of the reverse gear, and reverse control is allowed.

[0067] When the current gear is the reverse gear, the motor speed is in the positive direction, and the initial requested torque is in the negative direction, the initial requested torque is reversed to obtain the final requested torque in the positive direction. A new situation of previous acceleration in the reverse gear will occur. Therefore, reverse control is not allowed at this time, and the torque direction of the initial requested torque is directly determined as the torque direction of the final requested torque.

[0068] Similarly, when in the forward gear, there is no need to reverse when the motor speed is in the positive direction. When the motor speed is in the negative direction and the torque direction of the initial requested torque is in the positive direction, there is no need to reverse the control. The torque direction of the initial requested torque is directly determined as the torque direction of the final requested torque.

[0069] In some embodiments, Figure 4 As shown, the final motor state is determined according to the motor speed and the final requested torque, including: Step 401: Determine the torque direction of the final requested torque and the speed direction of the motor speed.

[0070] In specific implementation, according to the definitions of the driving state and the recovery state, the necessary conditions for determining the motor state are the torque direction of the requested torque and the speed direction of the motor speed, so it is necessary to first determine the torque direction of the final requested torque and the speed direction of the motor speed.

[0071] Step 402 : In response to the torque direction and the speed direction being opposite, determining the regeneration state as the final motor state.

[0072] In specific implementation, if the torque direction is positive and the speed direction is negative, it means that the vehicle is decelerating backward and the requested torque is resistance, which is a recovery state; if the torque direction is negative and the speed direction is positive, it means that the vehicle is decelerating forward and the requested torque is resistance, which is a recovery state; when the torque direction and the speed direction are opposite, the recovery state is determined as the final motor state.

[0073] Step 403: In response to the torque direction and the rotation speed direction being the same, determining the driving state as the final motor state.

[0074] In specific implementation, if the torque direction and the speed direction are both positive, it means that the motor drives the vehicle to move forward, which is a driving state; if the torque direction and the speed direction are both negative, it means that the motor drives the vehicle to move backward, which is a driving state; then when the torque direction and the speed direction are the same, the driving state is determined as the final motor state, and the determination of the final motor state provides a data basis for the subsequent determination of the final motor state after inversion.

[0075] In some embodiments, Figure 5 As shown, the motor limit torque is determined according to the current gear, the initial request torque and the final request torque, including: Step 501 : In response to the current gear being a forward gear and the final requested torque being in a negative direction, a preset maximum motor negative torque is determined as the motor limit torque.

[0076] In specific implementation, if the current gear is the forward gear and the final requested torque is in the negative direction, the maximum motor negative torque is selected to limit the absolute value of the torque. Figure 2 In the working condition of the second row, there is no torque inversion and the initial requested torque is also a negative value. In this way, the maximum motor negative torque is directly used for torque limitation. This ensures that the actual requested torque determined based on the initial requested torque will not exceed the motor's capacity limit before the inversion control, thereby ensuring the motor's safety.

[0077] Step 502 : In response to the current gear being a forward gear and the final requested torque being in a positive direction, determine the torque direction of the initial requested torque.

[0078] In specific implementation, if the current gear is the forward gear and the final requested torque is in the positive direction, the maximum motor positive torque is selected to limit the absolute value of the torque. At this time, the initial requested torque has two positive and negative values, which need to be limited separately to ensure the accuracy of the advance limit control.

[0079] Step 503 : In response to the torque direction of the initial request torque being a positive direction, a preset maximum motor positive torque is determined as the motor limit torque.

[0080] In specific implementation, when limiting the initial requested torque, the direction of the corresponding final requested torque is not yet known, and the torque direction of the initial requested torque needs to be determined first. If the torque direction is positive, a positive limiting torque needs to be used to numerically limit the initial requested torque. Since the maximum motor positive torque is a positive value, the preset maximum motor positive torque is directly determined as the motor limiting torque to ensure the accuracy of the advance limiting control. This ensures that the actual requested torque determined based on the initial requested torque will not exceed the motor's capacity limit before the reverse control is placed, thereby ensuring the safety of the motor.

[0081] Step 504 : In response to the torque direction of the initial request torque being a negative direction, determining the opposite of the preset maximum motor positive torque as the motor limit torque.

[0082] In specific implementation, if the torque direction is negative, a negative limiting torque is required to numerically limit the initial requested torque. Since the maximum motor positive torque is a positive value, the opposite of the preset maximum motor positive torque is determined as the motor limiting torque to ensure the accuracy of the advance limiting control. This ensures that the actual requested torque determined based on the initial requested torque will not exceed the motor's capacity limit before the reverse control is placed, thereby ensuring the safety of the motor.

[0083] Step 505 : In response to the current gear being the reverse gear and the final requested torque being in the positive direction, the opposite of the preset maximum motor positive torque is determined as the motor limit torque.

[0084] In specific implementation, if the current gear is reverse gear and the final requested torque is in the positive direction, the maximum motor positive torque is selected to limit the absolute value of the torque. Figure 2 In the working condition of row 8, torque inversion is performed. The initial requested torque is a negative value, and a negative limiting torque is needed to limit the initial requested torque. The opposite of the preset maximum motor positive torque is determined as the motor limiting torque. This ensures that the actual requested torque determined based on the initial requested torque will not exceed the motor's capacity limit before the inversion control, thereby ensuring the motor's safety.

[0085] Step 506 : In response to the current gear being the reverse gear and the final requested torque being in a negative direction, determine the torque direction of the initial requested torque.

[0086] In specific implementation, if the current gear is the reverse gear and the final requested torque is in the negative direction, the maximum motor negative torque is selected to limit the absolute value of the torque. At this time, the initial requested torque has two positive and negative values, which need to be limited separately to ensure the accuracy of the advance limit control.

[0087] Step 507 : In response to the torque direction of the initial request torque being a positive direction, determining the opposite of the preset maximum motor negative torque as the motor limit torque.

[0088] In specific implementation, when limiting the initial requested torque, the direction of the corresponding final requested torque is not yet known, and the torque direction of the initial requested torque needs to be determined first. If the torque direction is positive, a positive limiting torque is required to numerically limit the initial requested torque. Since the maximum motor negative torque is a negative value, the opposite of the preset maximum motor negative torque is determined as the motor limiting torque to ensure the accuracy of the advance limiting control. This ensures that the actual requested torque determined based on the initial requested torque will not exceed the motor's capacity limit before the reverse control is placed, thereby ensuring the safety of the motor.

[0089] Step 508 : In response to the torque direction of the initial request torque being in a negative direction, determining a preset maximum motor negative torque as the motor limit torque.

[0090] In specific implementation, if the torque direction is negative, a negative limiting torque is required to numerically limit the initial requested torque. Since the maximum motor negative torque is a negative value, the preset maximum motor negative torque is directly determined as the motor limiting torque to ensure the accuracy of the advance limiting control. This ensures that the actual requested torque determined based on the initial requested torque will not exceed the motor's capacity limit before the reverse control is performed, thereby ensuring the safety of the motor.

[0091] In some embodiments, Figure 6 As shown, the battery limit torque is determined according to the initial request torque and the final motor state, including: Step 601 : In response to the final motor state being the driving state, determining a preset maximum driving positive torque as the battery limiting torque.

[0092] In specific implementation, when the final motor state is the driving state, the maximum driving positive torque is selected to limit the absolute value of the torque. Figure 2In the working conditions of rows 1 and 7, if the initial requested torque is a positive value, the maximum driving positive torque is directly used for torque limitation, which can ensure that the actual requested torque determined based on the initial requested torque does not exceed the battery capacity limit before the reverse control is performed, thereby ensuring battery safety.

[0093] Step 602 : In response to the final motor state being the regeneration state, determining the torque direction of the initial request torque.

[0094] In specific implementation, when the final motor state is the recovery state, the maximum recovery negative torque is selected to limit the absolute value of the torque. At this time, the initial requested torque has two positive and negative values, which need to be limited separately to ensure the accuracy of the advance limit control.

[0095] Step 603 : In response to the torque direction of the initial request torque being a positive direction, determining the opposite of the preset maximum recovery negative torque as the battery limit torque.

[0096] In specific implementation, when limiting the initial requested torque, if the torque direction of the initial requested torque is in the positive direction, a positive limiting torque is required to numerically limit the initial requested torque. Since the maximum recovery negative torque is a negative value, the opposite of the preset maximum recovery negative torque is determined as the battery limiting torque to ensure the accuracy of the advance limiting control. This ensures that the actual requested torque determined based on the initial requested torque will not exceed the battery capacity limit before the reverse control is performed, thereby ensuring battery safety.

[0097] Step 604 : In response to the torque direction of the initial request torque being a negative direction, determining a preset maximum regeneration negative torque as the battery limit torque.

[0098] In specific implementation, if the torque direction is negative, a negative limiting torque is required to numerically limit the initial requested torque. Since the maximum recovery negative torque is a negative value, the preset maximum recovery negative torque is directly determined as the battery limiting torque to ensure the accuracy of the advance limiting control. This ensures that the actual requested torque determined based on the initial requested torque will not exceed the battery capacity limit before the reverse control is reversed, thereby ensuring battery safety.

[0099] In some embodiments, Figure 7 As shown, the initial request torque is limited according to the motor limit torque and the battery limit torque to obtain the limited request torque, including: Step 701 : In response to the initial request torque being in a positive direction, the minimum value of the motor limit torque and the battery limit torque is determined as the actual limit torque, and the minimum value of the initial request torque and the actual limit torque is determined as the limit request torque.

[0100] In specific implementation, if the initial request torque is in the positive direction, the motor limit torque and battery limit torque at this time are both positive values, indicating the positive limit of the torque request by the motor and the power battery, respectively. The minimum value of the motor limit torque and the battery limit torque is determined as the actual limit torque, and the limit torque is a threshold torque of the absolute value of the limit request torque. If the torque request is required to be within a range less than or equal to the actual limit torque, the minimum value of the initial request torque and the actual limit torque is determined as the limit request torque, ensuring that the actual request torque determined by the limit request torque will not damage the motor and the power battery. Among them, the torque direction of the limit request torque and the initial request torque is the same.

[0101] Step 702 : In response to the initial request torque being in a negative direction, determining the maximum value of the motor limit torque and the battery limit torque as the actual limit torque, and determining the maximum value of the initial request torque and the actual limit torque as the limit request torque.

[0102] In specific implementation, if the initial requested torque is in the negative direction, the motor limit torque and the battery limit torque at this time are both negative values, indicating the negative limitations of the torque request by the motor and the power battery, respectively. The maximum value of the motor limit torque and the battery limit torque is determined as the actual limit torque, and the limit torque is a threshold torque that limits the absolute value of the request torque. If a torque request is made within a range greater than or equal to the actual limit torque, the maximum value of the initial requested torque and the actual limit torque is determined as the limit request torque, ensuring that the actual request torque determined using the limit request torque will not damage the motor and the power battery.

[0103] In some embodiments, Figure 8 As shown, the actual requested torque is determined according to the limited requested torque, including: Step 801: In response to the current gear, the torque direction of the initial request torque and the speed direction of the motor speed satisfying a preset inversion condition, the inverse of the limit request torque is determined as the actual request torque.

[0104] In specific implementation, if the current gear is the forward gear, and the speed direction of the motor speed and the torque direction of the limited requested torque are both negative, it means that the subsequent actual driving direction is negative, which is opposite to the positive direction of the forward gear and does not meet the user's expectations. Then the torque reversal condition is met, and the torque direction of the limited requested torque is reversed to obtain the actual requested torque with a positive torque direction. Since the absolute value of the limited requested torque has been limited to a safe range before the reversal judgment, the actual requested torque after the reversal will not cause damage to the motor and the power battery.

[0105] If the current gear is the vehicle gear and the motor speed is in the negative direction, which is within the range of conventional control, the torque direction of the limited requested torque is directly reversed to obtain the actual requested torque. Since the absolute value of the limited requested torque has been limited to a safe range before the reversal judgment, the actual requested torque after reversal will not cause damage to the motor and power battery.

[0106] If the current gear is the reverse gear, and the speed direction of the motor speed and the torque direction of the limited requested torque are both in the positive direction, it means that the subsequent actual driving direction is in the positive direction, which is opposite to the negative direction of the reverse gear and does not meet the user's expectations. Then the torque inversion condition is met, and the torque direction of the limited requested torque is reversed to obtain an actual requested torque with a negative torque direction. Since the absolute value of the limited requested torque has been limited to a safe range before the inversion judgment, the actual requested torque after the inversion will not cause damage to the motor and the power battery.

[0107] Right now Figure 2 The operating conditions corresponding to the 4th, 5th, 7th and 8th rows meet the inversion condition, and the opposite of the limit request torque is determined as the actual request torque.

[0108] Step 802: In response to the current gear, the torque direction of the initial request torque and the speed direction of the motor speed not satisfying a preset inversion condition, the limited request torque is determined as the actual request torque.

[0109] When it comes to specific implementation, Figure 2 The operating conditions corresponding to the 1st, 2nd, 3rd and 6th rows do not satisfy the inversion condition, and the opposite of the limit request torque is determined as the actual request torque.

[0110] It should be noted that the method of the embodiment of the present application can be performed by a single device, such as a computer or server. The method of this embodiment can also be applied to a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present application, and the multiple devices will interact with each other to complete the described method.

[0111] It should be noted that the above describes some embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0112] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides a control device for requesting torque.

[0113] refer to Fig. 9 , the control device for requesting torque comprises: The final torque determination module 10 is configured to: determine the initial requested torque and the motor speed, and modify the initial requested torque according to the current gear position and the motor speed to obtain the final requested torque; The final state determination module 20 is configured to: determine the final motor state according to the motor speed and the final requested torque; The torque limit determination module 30 is configured to: determine the motor torque limit according to the current gear, the initial request torque and the final request torque, and determine the battery torque limit according to the initial request torque and the final motor state; The actual request determination module 40 is configured to: limit the initial request torque according to the motor limit torque and the battery limit torque to obtain the limited request torque, and determine the actual request torque according to the limited request torque.

[0114] For the convenience of description, the above device is described in terms of functions divided into various modules. Of course, when implementing the present application, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0115] The device of the above embodiment is used to implement the corresponding control method of the requested torque in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0116] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the control method for requesting torque described in any of the above embodiments is implemented.

[0117] Fig.10 A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 in the device.

[0118] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0119] The memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 may store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0120] The input / output interface 1030 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0121] The communication interface 1040 is used to connect a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0122] The bus 1050 includes a path that transmits information between the various components of the device (eg, the processor 1010 , the memory 1020 , the input / output interface 1030 , and the communication interface 1040 ).

[0123] It should be noted that, although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040 and the bus 1050, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0124] The electronic device of the above embodiment is used to implement the corresponding control method of the requested torque in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be described in detail here.

[0125] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the control method of the requested torque as described in any of the above embodiments.

[0126] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0127] The computer instructions stored in the storage medium of the above embodiments are used to enable the computer to execute the control method for requesting torque as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0128] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides a vehicle, including a control device or electronic device for requesting torque of the above-mentioned embodiments, and executing the control method for requesting torque as described in any of the above-mentioned embodiments through the electronic device or the control device for requesting torque of the above-mentioned embodiments, and having the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0129] It is understandable that before using the technical solutions of each embodiment of the present disclosure, the type, scope of use, usage scenarios, etc. of the personal information involved will be informed to the user in an appropriate manner, and the user's authorization will be obtained.

[0130] For example, in response to receiving an active request from a user, a prompt message is sent to the user to clearly remind the user that the operation requested to be performed will require obtaining and using the user's personal information. Thus, the user can independently choose whether to provide personal information to software or hardware such as an electronic device, application, server, or storage medium that performs the operation of the technical solution of the present disclosure according to the prompt message.

[0131] As an optional but non-limiting implementation, in response to receiving the user's active request, the prompt information may be sent to the user in the form of a pop-up window, in which the prompt information may be presented in text form. In addition, the pop-up window may also carry a selection control for the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0132] It is understandable that the above notification and the process of obtaining user authorization are merely illustrative and do not constitute a limitation on the implementation of the present disclosure. Other methods that meet relevant laws and regulations may also be applied to the implementation of the present disclosure.

[0133] A person skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present application is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0134] In addition, to simplify the description and discussion, and in order not to make the embodiments of the present application difficult to understand, the known power / ground connections to the integrated circuit (IC) chip and other components may or may not be shown in the provided drawings. In addition, the device may be shown in the form of a block diagram to avoid making the embodiments of the present application difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform on which the embodiments of the present application are to be implemented (that is, these details should be fully within the scope of understanding of those skilled in the art). Where specific details (e.g., circuits) are set forth to describe exemplary embodiments of the present application, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details or with changes in these specific details. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0135] Although the present application has been described in conjunction with specific embodiments of the present application, many alternatives, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the discussed embodiments.

[0136] The embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the protection scope of the present application.

Claims

1. A method for controlling a requested torque, characterized in that: include: Determining an initial requested torque and a motor speed, and correcting the initial requested torque according to a current gear and the motor speed to obtain a final requested torque; determining a final motor state according to the motor speed and the final requested torque; determining a motor limit torque according to the current gear, the initial request torque and the final request torque, and determining a battery limit torque according to the initial request torque and the final motor state; The initial request torque is limited according to the motor limit torque and the battery limit torque to obtain a limited request torque, and an actual request torque is determined according to the limited request torque.

2. The method for controlling the requested torque according to claim 1, characterized in that: The step of correcting the initial requested torque according to the current gear and the motor speed to obtain a final requested torque includes: In response to the current gear being a forward gear, and the rotational speed direction of the motor rotational speed and the torque direction of the initial requested torque being both in a negative direction, the torque direction of the initial requested torque is reversed to obtain the final requested torque having a positive torque direction; In response to the current gear being a reverse gear and the rotation speed direction of the motor speed being a negative direction, the torque direction of the initial requested torque is reversed to obtain the final requested torque; In response to the current gear being the reverse gear, and the speed direction of the motor speed and the torque direction of the initial requested torque being both positive, the torque direction of the initial requested torque is reversed to obtain the final requested torque with a negative torque direction.

3. The method for controlling the requested torque according to claim 1, characterized in that: The determining a final motor state according to the motor speed and the final requested torque includes: determining a torque direction of the final requested torque and a speed direction of the motor speed; In response to the torque direction and the speed direction being opposite, determining the regeneration state as the final motor state; In response to the torque direction and the speed direction being the same, a driving state is determined as the final motor state.

4. The method for controlling the requested torque according to claim 1, characterized in that: The determining of the motor limit torque according to the current gear, the initial requested torque and the final requested torque includes: In response to the current gear being a forward gear and the final requested torque being in a negative direction, determining a preset maximum motor negative torque as the motor limit torque; In response to the current gear being a forward gear and the final requested torque being in a positive direction, determining a torque direction of the initial requested torque; In response to the torque direction of the initial request torque being a positive direction, determining a preset maximum motor positive torque as the motor limit torque; In response to the torque direction of the initial request torque being a negative direction, determining the opposite of a preset maximum motor positive torque as the motor limit torque; In response to the current gear being a reverse gear and the final requested torque being in a positive direction, determining the reverse of a preset maximum motor positive torque as the motor limit torque; In response to the current gear being a reverse gear and the final requested torque being in a negative direction, determining a torque direction of the initial requested torque; In response to the torque direction of the initial request torque being a positive direction, determining the opposite of a preset maximum motor negative torque as the motor limit torque; In response to the torque direction of the initial request torque being a negative direction, a preset maximum motor negative torque is determined as the motor limit torque.

5. The method for controlling the requested torque according to claim 1, characterized in that: The determining of the battery limit torque according to the initial request torque and the final motor state comprises: In response to the final motor state being a driving state, determining a preset maximum driving positive torque as the battery limit torque; In response to the final motor state being a regeneration state, determining a torque direction of the initial requested torque; In response to the torque direction of the initial request torque being a positive direction, determining the opposite of a preset maximum recovery negative torque as the battery limit torque; In response to the torque direction of the initial request torque being a negative direction, a preset maximum regeneration negative torque is determined as the battery limit torque.

6. The method for controlling the requested torque according to claim 1, characterized in that: The step of limiting the initial request torque according to the motor limit torque and the battery limit torque to obtain the limited request torque includes: In response to the initial request torque being in a positive direction, determining a minimum value of the motor limit torque and the battery limit torque as an actual limit torque, and determining a minimum value of the initial request torque and the actual limit torque as the limit request torque; In response to the initial request torque being in a negative direction, determining a maximum value of the motor limit torque and the battery limit torque as an actual limit torque, and determining a maximum value of the initial request torque and the actual limit torque as the limit request torque; The limited requested torque and the initial requested torque have the same torque direction.

7. The method for controlling the requested torque according to claim 1, characterized in that: The determining the actual requested torque according to the limited requested torque comprises: In response to the current gear, the torque direction of the initial request torque and the speed direction of the motor speed satisfying a preset inversion condition, determining the inverse of the limited request torque as the actual request torque; In response to the current gear, the torque direction of the initial request torque, and the speed direction of the motor speed not satisfying a preset inversion condition, the limited request torque is determined as the actual request torque.

8. A control device for requesting torque, characterized in that: include: The final torque determination module is configured to: determine an initial requested torque and a motor speed, and modify the initial requested torque according to a current gear and the motor speed to obtain a final requested torque; A final state determination module is configured to: determine a final motor state according to the motor speed and the final requested torque; a limit torque determination module configured to: determine a motor limit torque according to the current gear, the initial request torque and the final request torque, and determine a battery limit torque according to the initial request torque and the final motor state; The actual request determination module is configured to: limit the initial request torque according to the motor limit torque and the battery limit torque to obtain a limited request torque, and determine the actual request torque according to the limited request torque.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the program, the method according to any one of claims 1 to 7 is implemented.

10. A vehicle, characterized in that: Comprising a torque request control device as claimed in claim 8 or an electronic device as claimed in claim 9.

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