Control Method, Device, Electronic Device and Vehicle for Requested Torque

Abstract

The present application provides a control method, device, electronic device and vehicle for requested torque. By determining the final requested torque and the final motor state, a new torque inversion scenario is introduced into the determination process of the limited torque. The motor limited torque and the battery limited torque after torque inversion are added to the control process of torque limitation in advance. The initial requested torque is limited by the motor limited torque and the battery limited torque after torque inversion. The obtained limited requested torque can meet the conventional energy management requirements and ensure that there is no power overshoot under the torque inversion condition, and it will not cause overcharge or under-voltage of the power battery. Then, the vehicle is driven according to the actual requested torque determined by the limited requested torque, which can protect the safety of the motor and the power battery during torque inversion and improve the user experience.

Description

Technical Field

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

[0002] Vehicles avoid overshoot of the actual power of the motor through energy management, thereby avoiding the battery being in an under-voltage state or an over-voltage state and ensuring the safety of the battery. The energy management strategy can adapt to most control scenarios. However, for the torque commutation scenario, due to the lack of control strategies for special scenarios such as torque commutation, continuing to use ordinary control strategies will cause the torque limit to fail, thereby damaging the motor or battery and reducing 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 provide a method and device for controlling requested torque, an electronic device, and a vehicle. By introducing the scenario after torque commutation into the torque limit control process, it is ensured that requesting torque according to the limit request torque will not damage the motor or battery.

[0004] Based on the above purpose, the present application provides a method for controlling requested torque, including:

[0005] Determine the initial requested torque and the motor speed, and correct the initial requested torque according to the current gear and the motor speed to obtain the final requested torque;

[0006] Determine the final motor state according to the motor speed and the final requested torque;

[0007] Determine the motor limit torque according to the current gear, the initial requested torque, and the final requested torque, and determine the battery limit torque according to the initial requested torque and the final motor state;

[0008] Limit the initial requested torque according to the motor limit torque and the battery limit torque to obtain the limited requested torque, and determine the actual requested torque according to the limited requested torque.

[0009] Optionally, the correcting the initial requested torque according to the current gear and the motor speed to obtain the final requested torque includes:

[0010] In response to the current gear being a forward gear, and the rotation direction of the motor speed and the torque direction of the initial requested torque both being negative, reverse the torque direction of the initial requested torque to obtain the final requested torque with a positive torque direction;

[0011] In response to the current gear being the reverse gear and the rotational speed direction of the motor speed being the negative direction, reverse the torque direction of the initial requested torque to obtain the final requested torque;

[0012] In response to the current gear being the reverse gear and both the rotational speed direction of the motor speed and the torque direction of the initial requested torque being the positive direction, reverse the torque direction of the initial requested torque to obtain the final requested torque with the torque direction being the negative direction.

[0013] Determining the final requested torque provides a data basis for determining the subsequent reversed motor limit torque. Introducing a new torque reversal scenario into the determination process of the limit torque by determining the final requested torque and the final motor state can avoid the control effect being contrary to the user's expectation and improve the user's driving experience.

[0014] Optionally, the determining the final motor state according to the motor speed and the final requested torque includes:

[0015] Determine the torque direction of the final requested torque and the rotational speed direction of the motor speed;

[0016] In response to the torque direction and the rotational speed direction being opposite, determine the recovery state as the final motor state;

[0017] In response to the torque direction and the rotational speed direction being the same, determine the driving state as the final motor state.

[0018] Determining the final motor state provides a data basis for determining the subsequent reversed battery limit torque. Introducing a new torque reversal scenario into the determination process of the limit torque by determining the final requested torque and the final motor state can avoid the control effect being contrary to the user's expectation and improve the user's driving experience.

[0019] Optionally, the determining the motor limit torque according to the current gear, the initial requested torque, and the final requested torque includes:

[0020] In response to the current gear being the forward gear and the final requested torque being the negative direction, determine the preset maximum negative motor torque as the motor limit torque;

[0021] In response to the current gear being the forward gear and the final requested torque being the positive direction, determine the torque direction of the initial requested torque;

[0022] In response to the torque direction of the initial requested torque being the positive direction, determine the preset maximum positive motor torque as the motor limit torque;

[0023] In response to the torque direction of the initial requested torque being the negative direction, determine the opposite of the preset maximum positive motor torque as the motor limit torque;

[0024] In response to the current gear being the reverse gear and the final requested torque being in the positive direction, determine the opposite of the preset maximum positive motor torque as the motor limit torque;

[0025] In response to the current gear being the reverse gear and the final requested torque being in the negative direction, determine the torque direction of the initial requested torque;

[0026] In response to the torque direction of the initial requested torque being the positive direction, determine the opposite of the preset maximum negative motor torque as the motor limit torque;

[0027] In response to the torque direction of the initial requested torque being the negative direction, determine the preset maximum negative motor torque as the motor limit torque.

[0028] By determining the motor limit torque in different scenarios, ensure that the actual torque output in different scenarios does not exceed the motor's capacity range, so as to ensure that the motor is not damaged during the torque control process.

[0029] Optionally, the determining the battery limit torque according to the initial requested torque and the final motor state includes:

[0030] In response to the final motor state being the driving state, determine the preset maximum driving positive torque as the battery limit torque;

[0031] In response to the final motor state being the recuperation state, determine the torque direction of the initial requested torque;

[0032] In response to the torque direction of the initial requested torque being the positive direction, determine the opposite of the preset maximum recuperation negative torque as the battery limit torque;

[0033] In response to the torque direction of the initial requested torque being the negative direction, determine the preset maximum recuperation negative torque as the battery limit torque.

[0034] By determining the battery limit torque in different scenarios, ensure that the actual torque output in different scenarios does not exceed the battery's capacity range, so as to ensure that the motor is not damaged during the torque control process.

[0035] Optionally, the restricting the initial requested torque according to the motor limit torque and the battery limit torque to obtain the restricted requested torque includes:

[0036] In response to the initial requested torque being in the positive direction, determine the minimum value of the motor limit torque and the battery limit torque as the actual limit torque, and determine the minimum value of the initial requested torque and the actual limit torque as the limit requested torque;

[0037] In response to the initial requested torque being in the negative direction, determine the maximum value of the motor limit torque and the battery limit torque as the actual limit torque, and determine the maximum value of the initial requested torque and the actual limit torque as the limit requested torque;

[0038] Wherein, the torque direction of the limit requested torque is the same as that of the initial requested torque.

[0039] Determine the one with the smaller absolute value among the motor limit torque and the battery limit torque as the limit requested torque, ensuring that the actual torque output in different scenarios does not exceed the capabilities of the battery and the motor, so as to ensure that the motor and the battery are not damaged during the torque control process.

[0040] Optionally, the determining the actual requested torque according to the limit requested torque includes:

[0041] In response to the current gear position, the torque direction of the initial requested torque, and the rotational speed direction of the motor speed satisfying a preset reverse condition, determine the opposite number of the limit requested torque as the actual requested torque;

[0042] In response to the current gear position, the torque direction of the initial requested torque, and the rotational speed direction of the motor speed not satisfying the preset reverse condition, determine the limit requested torque as the actual requested torque.

[0043] Since the torque reverse working condition is introduced in the expanded torque limit control scheme, it is necessary to reverse the limit requested torque when the reverse condition is met to ensure that the driving direction conforms to the expected direction corresponding to the current gear position, avoid unexpected reverse driving, and ensure the driving safety of the user.

[0044] Based on the same inventive concept, the present disclosure also provides a control device for requested torque, including:

[0045] A final torque determination module, configured to: determine an initial requested torque and a motor speed, and correct the initial requested torque according to the current gear position and the motor speed to obtain a final requested torque.

[0046] A final state determination module, configured to: determine a final motor state according to the motor speed and the final requested torque;

[0047] A limit torque determination module configured to: determine a motor limit torque according to the current gear position, the initial requested torque, and the final requested torque, and determine a battery limit torque according to the initial requested torque and the final motor state;

[0048] An actual request determination module configured to: limit the initial requested torque according to the motor limit torque and the battery limit torque to obtain a limited requested torque, and determine an actual requested torque according to the limited requested torque.

[0049] Based on the same inventive concept, the present disclosure also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable by the processor. When the processor executes the computer program, the method described above is implemented.

[0050] Based on the same inventive concept, the present disclosure also provides a vehicle, including the control device or the electronic device for the requested torque described above.

[0051] As can be seen from the above, for the control method, device, electronic device, and vehicle for the requested torque provided by the present application, after determining the initial requested torque and the motor speed, the initial requested torque can be corrected according to the current gear position and the motor speed to obtain the final requested torque, and the final motor state can be determined according to the motor speed and the final requested torque; determine the motor limit torque according to the current gear position, the initial requested torque, and the final requested torque, and determine the battery limit torque according to the initial requested torque and the final motor state; limit the initial requested torque according to the motor limit torque and the battery limit torque to obtain a limited requested torque, and determine the actual requested torque according to the limited requested torque. By determining the final requested torque and the final motor state, a new torque inversion scenario is introduced into the determination process of the limit torque, and the motor limit torque and the battery limit torque after torque inversion are added to the control process of torque limitation in advance. The initial requested torque is limited by the motor limit torque and the battery limit torque after torque inversion. The obtained limited requested torque can meet the conventional energy management requirements and can also ensure that there is no power overshoot and no overcharge or under-voltage of the power battery under the torque inversion condition. Then, the vehicle is driven by the actual requested torque determined according to the limited requested torque, which can protect the safety of the motor and the power battery during torque inversion and improve the user experience. Description of the Drawings

[0052] In order to more clearly illustrate the technical solutions in the present application or related technologies, the following will briefly introduce the drawings required for use in the description of the embodiments or related technologies. Obviously, the drawings in the following description are only embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0053] Figure 1 It is a flowchart of the control method for obtaining torque in the embodiment of the present application;

[0054] Figure 2 It is a schematic diagram of the torque commutation control strategy in the embodiment of the present application;

[0055] Figure 3 It is a flowchart of determining the final requested torque in the embodiment of the present application;

[0056] Figure 4 It is a flowchart of determining the final motor state in the embodiment of the present application;

[0057] Figure 5 It is a flowchart of determining the motor limit torque in the embodiment of the present application;

[0058] Figure 6 It is a flowchart of determining the motor limit torque in the embodiment of the present application;

[0059] Figure 7 It is a flowchart of determining the limit requested torque in the embodiment of the present application;

[0060] Figure 8 It is a flowchart of determining the actual requested torque according to the limit requested torque in the embodiment of the present application;

[0061] Figure 9 It is a schematic diagram of the structure of the control device for the requested torque in the embodiment of the present application;

[0062] Figure 10 It is a schematic diagram of the structure of the electronic device in the embodiment of the present application. Detailed implementation manners

[0063] To make the objectives, technical solutions and advantages of the present application more clear and understandable, the present application will be further described in detail below with reference to specific embodiments and the accompanying drawings.

[0064] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should have the ordinary meanings understood by those of ordinary skill in the field to which the present application belongs. The "first", "second" and similar terms used in the embodiments of the present application do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "including" or "comprising" mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connected" or "coupled" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right", etc. are only used to indicate relative position relationships, and when the absolute position of the object being described changes, the relative position relationship may also change accordingly.

[0065] In this article, it should be understood that any number of elements in the drawings is for illustration rather than limitation, and any naming is only for distinction and does not have any limiting meaning.

[0066] Based on the above description of the background technology, the following situations also exist in the related technology:

[0067] The vehicle controller of a new energy vehicle needs to constantly judge whether to perform an inversion process on the requested torque according to the gear state and the actual rotational speed and direction of the motor, so as to ensure that the actual driving direction of the vehicle is consistent with the gear state. According to the direction of the vehicle's head, when the vehicle is driving in the direction of the head, it is defined as the positive forward direction (Forward); when the vehicle is driving in the opposite direction of the head (the direction of the tail), it is defined as the negative reverse direction (Reverse); at the same time, the expected driving direction of the user is determined according to the gear. The forward gear (D) represents that the expected direction of the driver is the positive direction, and the reverse gear (R) represents that the expected direction of the driver is the negative direction.

[0068] In order to avoid the contradiction between the actual driving direction of the vehicle and the gear state, it is necessary to perform an inversion process on the requested torque under specific working conditions, that is, make the final torque = requested torque × (-1), so as to ensure that the vehicle control meets the user's expectations.

[0069] In the related art, the rotational speed direction of the motor under the default forward gear is positive, and the rotational speed direction of the motor under the reverse gear is negative. Since the requested torque also has two cases of positive and negative directions, there are a total of four control strategies. Under the forward gear, when both the motor speed and the requested torque are in the positive direction, the motor state is determined to be the driving state. The requested torque is limited by the maximum driving positive torque of the power battery (VCU_max_drive) and the maximum motor positive torque of the motor (MCU_Max). 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 represents the maximum equivalent positive torque that the power battery can output during normal operation (the equivalent torque value corresponding to the maximum power); the maximum motor positive torque represents the maximum torque value that the motor can output during normal operation. If the requested torque is greater than the maximum driving positive torque, it will cause the power battery to be under-voltage. If the requested torque is greater than the maximum motor positive torque, it will cause the motor to overshoot (overload operation). To ensure the safety of the motor and the power battery, when controlling the requested torque, the requested torque needs to be limited to a range less than or equal to min(VCU_max_drive, MCU_Max). Among them, both VCU_max_drive and MCU_Max are positive values.

[0070] Under 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 regenerative state. The requested torque is limited by the maximum regenerative negative torque of the power battery (VCU_min_regenerate) and the maximum motor negative torque of the motor (MCU_Min). Then, 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 the battery. Among them, both VCU_min_regenerate and MCU_Min are negative values.

[0071] Similarly, under the reverse gear, when both the motor speed and the requested torque are in the negative direction, the motor state is determined to be the driving state. The requested torque is limited by MCU_Max×(-1) and VCU_min_regenerate. Then, 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 the battery.

[0072] Under the 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 regenerative state. The requested torque is limited by MCU_Min×(-1) and VCU_max_drive. Then, 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 the battery.

[0073] It can be seen that in the related art, the vehicle avoids the overshoot of the actual power of the motor through simple torque limitation, thereby avoiding the under-voltage state or over-voltage state of the battery and ensuring the safety of the battery. The simple torque limitation strategy can adapt to most control scenarios. However, for working conditions that may cause torque reversal, such as dynamic gear shifting (wherein, the dynamic gear shifting function is to directly shift gears between D-R or R-D without passing through the neutral gear. It can be seen that dynamic gear shifting will change the current gear of the vehicle and the expected direction of the user.) or uphill rollback and other working conditions, the torque control strategy in the related art lacks a processing solution for such situations. Due to the lack of a control strategy for special scenarios such as torque reversal, continuing to use the ordinary control strategy will result in the failure of torque limitation, thereby causing damage to the motor or battery and reducing the service life of the motor or battery.

[0074] The control method, device, electronic device and vehicle for requesting torque provided by the embodiments of the present application can correct the initial requested torque according to the current gear and the motor speed after determining the initial requested torque and the motor speed to obtain the final requested torque, and determine the final motor state according to the motor speed and the final requested torque; determine the motor limit torque according to the current gear, the initial requested torque and the final requested torque, and determine the battery limit torque according to the initial requested torque and the final motor state; limit the initial requested torque according to the motor limit torque and the battery limit torque to obtain the limited requested torque, and determine the actual requested torque according to the limited requested torque. By determining the final requested torque and the final motor state, a new torque reversal scenario is introduced into the determination process of the limit torque, and the motor limit torque and the battery limit torque after torque reversal are added to the torque limitation control process in advance. The initial requested torque is limited by the motor limit torque and the battery limit torque after torque reversal. The obtained limited requested torque can ensure that there is no power overshoot and no overcharging or under-voltage of the power battery under the torque reversal working condition while meeting the conventional energy management requirements. Then, the vehicle is driven according to the actual requested torque determined by the limited requested torque, which can protect the safety of the motor and the power battery during torque reversal and improve the user experience.

[0075] The following will describe in detail the control method for requesting torque provided by the embodiments of the present application with reference to the accompanying drawings.

[0076] In some embodiments, as Figure 1 shown, the control method for requesting torque includes:

[0077] Step 101: Determine the initial requested torque and the motor speed, and correct the initial requested torque according to the current gear and the motor speed to obtain the final requested torque.

[0078] During specific implementation, the initial requested torque is the original torque request directly corresponding to the user's control operation. The current gear position is the gear position where the gear lever is located at the current moment. The motor state includes two types: the driving state and the regenerative state. Among them, in the driving state, the motor outputs torque to drive the vehicle to travel, and at this time, the rotational speed direction of the motor is the same as the direction of the requested torque; in the regenerative state, the vehicle drives the motor to rotate, causing the motor to generate electricity. At this time, the torque generated by the motor during power generation becomes the resistance to the vehicle's travel, and at this time, the rotational speed direction of the motor is opposite to the direction of the requested torque. Therefore, the motor state can be determined based on the torque direction of the requested torque and the rotational speed direction of the motor speed.

[0079] According to the definition of the driving state, it can be determined that when the torque direction and the rotational speed direction are the same, the driving state is determined as the initial motor state. According to the definition of the regenerative state, it can be determined that when the torque direction and the rotational speed direction are opposite, the regenerative state is determined as the initial motor state.

[0080] Considering the occurrence of special working conditions such as dynamic gear shifting or coasting, since the rotational speed direction of the motor cannot be instantaneously changed during gear shifting, when in the forward gear, there is a situation where the rotational speed direction of the motor speed is the negative direction. When in the reverse gear, there is a situation where the rotational speed direction of the motor speed is the positive direction. And the torque direction of the requested torque has two situations: positive and negative. Then, as Figure 2 shown, there are a total of 8 control situations, among which the forward gear and the reverse gear respectively correspond to four working conditions. However, it is necessary to make certain corrections to the newly added 4 working conditions (2 working conditions with negative rotational speed in the forward gear and 2 working conditions with positive rotational speed in the reverse gear), and obtain the torque reversal control schematic diagram as shown in Figure 2 shown. Then the final motor state is the motor state after torque reversal control, and the corresponding initial motor state is the motor state before torque reversal control.

[0081] For the four situations corresponding to the forward gear, theoretically, the initial requested torque and the final requested torque are the same, that is, the initial initial requested torque = the final initial requested torque × 1. However, Figure 2 in the fourth working condition of the forward gear (corresponding to Figure 2In the 4th row of the table), since the motor speed is in the negative direction and the initial requested torque is in the negative direction at this time, the corresponding final requested torque of the initial requested torque is a negative torque. At this time, the vehicle will accelerate backward, and both the initial driving direction and the final driving direction are in the negative direction. That is, without changing the control command, there is no possibility for the vehicle to drive in the positive direction, while the expected direction corresponding to the forward gear is the positive direction. At this time, it is necessary to perform an inversion control on the initial requested torque, that is, make the final requested torque = initial requested torque × (-1). After the inversion control, the vehicle changes from accelerating backward to decelerating backward, and after decelerating to a vehicle speed of 0, it accelerates forward, and the driving direction changes from the initial negative driving direction to the final positive driving direction, meeting the positive direction control expectation of the forward gear.

[0082] For the four cases corresponding to the reverse gear, the relationship between the initial requested torque and the final requested torque is the default opposite number relationship, that is, the final requested torque = initial requested torque × (-1), but Figure 2 In the second working condition of the reverse gear (corresponding to Figure 2 In the 6th row of the table), 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 inverting the initial requested torque is a positive torque. At this time, the vehicle will accelerate forward, and both the initial driving direction and the final driving direction are in the positive direction. That is, without changing the control command, there is no possibility for the vehicle to drive in the negative direction, while the expected direction corresponding to the reverse gear is the negative direction. At this time, it is necessary to perform an inversion control on the initial requested torque again, that is, the final requested torque = initial requested torque × 1 (two inversions are equivalent to maintaining the original value). After the inversion control, the vehicle changes from accelerating forward to decelerating forward, and after decelerating to a vehicle speed of 0, it accelerates backward, and the driving direction changes from the initial positive driving direction to the final negative driving direction, meeting the negative direction control expectation of the reverse gear.

[0083] 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 perform the inversion of the requested torque for the working conditions where the initial requested torque is in the negative direction and the motor speed is in the negative direction (corresponding to Figure 2 In the 4th row of the table). When the current gear is the reverse gear, only perform the original value retention control of the requested torque for the working conditions where the initial requested torque is in the negative direction and the motor speed is in the positive direction (corresponding to Figure 2 In the 6th row of the table), and perform the inversion of the requested torque for the rest of the cases. That is, Figure 2 Perform the inversion control of the initial requested torque for the working conditions corresponding to the 4th, 5th, 7th, and 8th rows in the table.

[0084] Step 102: Determine the final motor state according to the motor speed and the final requested torque.

[0085] During specific implementation, after determining the final requested torque, continue to determine the final motor state according to the definitions of the driving state and the recuperation state. The process of determining the final motor state based on the motor speed and the final requested torque includes: when the torque direction of the final requested torque is the same as the rotational speed direction of the motor speed, determine the driving state as the final motor state. When the torque direction of the final requested torque is opposite to the rotational speed direction of the motor speed, determine the recuperation state as the final motor state.

[0086] Optionally, the process of determining the final motor state further includes: in the forward gear, if the torque directions of the final requested torque and the initial requested torque are the same (corresponding to Figure 2 the situations of the 1st, 2nd, and 3rd lines in Figure 2 ), then determine the initial motor state as the final torque state. In the forward gear, if the torque directions of the final requested torque and the initial requested torque are opposite (corresponding to

[0087] the situation of the 4th line in Figure 2 ), since the motor speed is in the negative direction at this time and the torque direction of the final requested torque is in the positive direction, and the torque direction and the rotational speed direction are opposite at this time, determine the reverse state of the initial motor state as the final torque state, that is, change the initial motor state in the driving state to the final motor state in the recuperation state. Figure 2 In the reverse gear, if the torque directions of the final requested torque and the initial requested torque are opposite (corresponding to

[0088] the situations of the 4th, 7th, and 8th lines in

[0089] ), then determine the reverse state of the initial motor state as the final torque state. In the reverse gear, if the torque directions of the final requested torque and the initial requested torque are the same (corresponding to

[0090] Figure 2 the situation of the 6th line in Figure 2 ), then determine the initial motor state as the final torque state, that is, both the initial motor state and the final torque state are in the recuperation state.

[0088] After introducing the forward gear negative speed and reverse gear positive speed working conditions caused by dynamic shifting into the torque control process, introduce the new torque reversal scenario into the process of determining the restricted torque by determining the final requested torque and the final motor state, so as to avoid the control effect being contrary to the user's expectation and improve the user's driving experience. Among them, the old control strategy is not to perform reversal in the forward gear and to perform full reversal in the reverse gear.

[0089] Step 103: Determine the motor restricted torque according to the current gear, the initial requested torque, and the final requested torque, and determine the battery restricted torque according to the initial requested torque and the final motor state.

[0090] In specific implementation, after introducing the new torque inversion scenario, it is also necessary to determine a new torque limit strategy for the forward gear negative speed and reverse gear positive speed conditions caused by dynamic shifting. Since VCU_max_drive and VCU_min_regenerate have built-in motor state attributes (VCU_max_drive is used for torque limit in the driving state, and VCU_min_regenerate is used for torque limit in the regeneration state), while MCU_Max and MCU_Min do not have motor state attributes and are just simple upper and lower limit ranges, if the torque limit strategy in the related technology is adopted, the following problems will exist:

[0091] For Figure 2 in the case corresponding to the 3rd line, when the current gear is D, the rotational speed direction of the motor speed is negative, the torque direction of the initial requested torque is positive, and the torque direction of the final requested torque is positive. The final motor state is the regeneration state. If the torque limit strategy in the related technology is adopted, the influence of the motor state will not be considered, and VCU_max_drive (because VCU_max_drive itself is positive) will be used for torque limit control when the initial requested torque is positive. However, using VCU_max_drive is inappropriate as it may cause overshoot of the battery power, resulting in overcharging of the battery.

[0092] For Figure 2 in the case corresponding to the 4th line, when the current gear is D, the rotational 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 related technology is adopted, MCU_Min (because MCU_Min itself is negative) will be used for torque limit control when the initial requested torque is negative. However, using MCU_Min is inappropriate as it may cause the motor torque to exceed the upper limit, resulting in overloading of the motor and damage to the motor.

[0093] For Figure 2 in the case corresponding to the 5th line, when the current gear is R, the rotational 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 or negative. The final motor state is the regeneration state. If the torque limit strategy in the related technology is adopted, the influence of the motor state will not be considered, and VCU_max_drive (because VCU_max_drive itself is positive) will be used for torque limit control when the initial requested torque is positive. However, using VCU_max_drive is inappropriate as it may cause overshoot of the battery power during charging, resulting in overcharging of the battery.

[0094] For Figure 2For the situation corresponding to line 6, when the current gear is in the R gear, the rotational speed direction of the motor speed is the positive direction, the torque direction of the initial requested torque is the negative direction, and the torque direction of the final requested torque is the negative direction. If the torque limit strategy in the related technology is adopted, when the initial requested torque is negative, MCU_Max×(-1) will be used for torque limit control (because after inversion, MCU_Max is needed for torque limit, and when the initial requested torque is negative, MCU_Max×(-1) which changes MCU_Max to a negative value is required). However, using MCU_Max×(-1) is inappropriate as it may cause the motor torque to exceed the lower limit, resulting in the motor running overloaded and damaging the motor.

[0095] Then, it is necessary to re - determine the motor limit torque for each control strategy according to the current gear, the initial requested torque, and the final requested torque, and re - determine the battery limit torque for each control strategy according to the current gear and the final motor state (mainly for the four working conditions of negative speed in the newly introduced forward gear and positive speed in the reverse gear, and the original four working conditions can maintain the original strategy).

[0096] For Figure 2 For the situation corresponding to line 3, when the current gear is in the D gear, the rotational speed direction of the motor speed is the negative direction, the torque direction of the initial requested torque is the positive direction, and the torque direction of the final requested torque is the positive direction. The final motor state is the regeneration state. When performing torque limit control, VCU_min_regenerate corresponding to the final motor state is used for torque limit. However, since the torque direction of the initial requested torque is the positive direction, VCU_min_regenerate×(-1) should be used to limit - control the initial request. Realize that before the torque commutation judgment, the initial requested torque is limited - controlled by VCU_min_regenerate×(-1) in advance, so that the absolute value of the actual requested torque after limitation is less than or equal to |VCU_min_regenerate|. When the final state is the regeneration state, since the limited torque value will not exceed the absolute value of the maximum regeneration negative torque, it means that the battery over - charging problem will not occur during the regeneration charging process, thus protecting the safety of the battery.

[0097] For Figure 2For the situation corresponding to the 4th line, when the current gear is in D gear, the rotational speed direction of the motor speed is the negative direction, the torque direction of the initial requested torque is the negative direction, and the torque direction of the final requested torque is the positive direction. 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 the negative direction, MCU_Max×(-1) should be used to limit the initial request. Before the torque commutation judgment, MCU_Max×(-1) is used to limit the initial requested torque in advance, 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 after inverting the limited torque, the actually output torque will not exceed the absolute value of the maximum motor positive torque MCU_Max of the motor's positive output, and the motor will not operate overloaded and will not be damaged.

[0098] For Figure 2 For the situation corresponding to the 5th line, when the current gear is in R gear, the rotational speed direction of the motor speed is the positive direction, the torque direction of the initial requested torque is the positive direction, and the torque direction of the final requested torque is the positive and negative direction. The final motor state is the regeneration state. When performing torque limit control, the VCU_min_regenerate corresponding to the final motor state should be used for torque limitation. However, since the torque direction of the initial requested torque is the positive direction, VCU_min_regenerate×(-1) should be used to limit the initial requested torque, so that the absolute value of the actual requested torque after limitation is less than or equal to |VCU_min_regenerate|. Before the commutation judgment of the initial requested torque, VCU_min_regenerate×(-1) is used to limit the initial requested torque in advance. When the final motor state is the regeneration state, the actual equivalent charging torque is less than the absolute value of VCU_min_regenerate, which means that the battery overcharging problem will not occur during the regeneration charging process, thus protecting the battery safety.

[0099] For Figure 2 For the situation corresponding to the 6th line, when the current gear is in R gear, the rotational speed direction of the motor speed is the positive direction, the torque direction of the initial requested torque is the negative direction, and the torque direction of the final requested torque is the negative direction. Then, the MCU_Min corresponding to the final requested torque should be used for torque limit control. Before the torque commutation judgment, the maximum negative torque MCU_Min of the motor is used to limit the initial requested torque in advance. When the final requested torque is obtained after inverting the limited torque, since the torque direction has not changed, the actually 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 operate overloaded and will not be damaged.

[0100] Step 104: Limit the initial requested torque according to the motor limit torque and the battery limit torque to obtain a limited requested torque, and determine the actual requested torque according to the limited requested torque.

[0101] During specific implementation, after determining the motor limit torque and the battery limit torque, the limited requested torque for limiting the initial requested torque using the motor limit torque and the battery limit torque: when the initial requested torque is in the positive direction, determine the minimum value of the motor limit torque and the battery limit torque as the actual limit torque, and determine the minimum value of the initial requested torque and the actual limit torque as the limited requested torque; if the initial requested torque is in the negative direction, determine the maximum value of the motor limit torque and the battery limit torque as the actual limit torque, and determine the maximum value of the initial requested torque and the actual limit torque as the limited requested torque, ensuring that neither the positive output nor the negative output exceeds the capabilities of the motor and the power battery, so as to ensure that the actual requested torque determined according to the limited requested torque will not cause motor power overshoot, nor will it cause overcharge or under-voltage of the power battery, thereby reducing the damage to the motor or the power battery during the control process, protecting the motor and the power battery, and improving the user experience.

[0102] The control method for the requested torque provided by the embodiment of the present application introduces a new torque inversion scenario into the determination process of the limit torque by determining the final requested torque and the final motor state, adds the motor limit torque and the battery limit torque after torque inversion to the control process of torque limitation in advance, and uses the motor limit torque and the battery limit torque after torque inversion to limit the initial requested torque. The obtained limited requested torque can ensure that there is no power overshoot and no overcharge or under-voltage of the power battery under the torque inversion condition while meeting the conventional energy management requirements. Then, the vehicle is driven by the actual requested torque determined according to the limited requested torque, which can protect the safety of the motor and the power battery during torque inversion and improve the user experience.

[0103] In some embodiments, as Figure 3 shown, the initial requested torque is corrected according to the current gear position and the motor speed to obtain the final requested torque, including:

[0104] Step 301: In response to the current gear position being the forward gear, and the rotational direction of the motor speed and the torque direction of the initial requested torque both being in the negative direction, invert the torque direction of the initial requested torque to obtain a final requested torque with a positive torque direction.

[0105] During specific implementation, when the current gear is the forward gear, and both the rotational direction of the motor speed and the torque direction of the initial requested torque are negative, it will show a state of accelerating backward. If the driving direction remains backward at the current moment or after a period of time, while the expected direction of the forward gear is forward, 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 accelerating forward after decelerating backward. The final driving direction is positive, which meets the user's expectations and avoids the driving risks brought by unexpected driving directions.

[0106] Step 302: In response to the current gear being the reverse gear and the rotational direction of the motor speed being negative, reverse the torque direction of the initial requested torque to obtain the final requested torque.

[0107] During specific implementation, when the current gear is the reverse gear and the rotational direction of the motor speed is negative, it belongs to the conventional control scheme, and the reverse control strategy remains unchanged. Just keep reversing the initial requested torque, so reverse the torque direction of the initial requested torque to obtain the final requested torque.

[0108] Step 303: In response to the current gear being the reverse gear and both the rotational direction of the motor speed and the torque direction of the initial requested torque being positive, reverse the torque direction of the initial requested torque to obtain the final requested torque with a negative torque direction.

[0109] During specific implementation, if the current gear is the reverse gear and both the rotational direction of the motor speed and the torque direction of the initial requested torque are positive, according to the convention in the reverse gear, it also needs to be reversed, and the final requested torque with a negative direction will be obtained. Then, it can achieve decelerating forward and then accelerating backward, which is the same as the expected direction of the reverse gear, and reverse control is allowed.

[0110] 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, after reversing the initial requested torque, a final requested torque in the positive direction will be obtained, and a new situation of accelerating forward in the reverse gear will occur. Therefore, reverse control is not allowed at this time, and directly determine the torque direction of the initial requested torque as the torque direction of the final requested torque.

[0111] Similarly, when in the forward gear, there is no need to reverse when the motor speed is in the positive direction, and there is also no need to perform reverse control when the motor speed direction is negative and the torque direction of the initial requested torque is positive. Directly determine the torque direction of the initial requested torque as the torque direction of the final requested torque.

[0112] In some embodiments, as Figure 4 shown, determining the final motor state according to the motor speed and the final requested torque includes:

[0113] Step 401: Determine the torque direction of the final requested torque and the rotational speed direction of the motor speed.

[0114] During specific implementation, according to the definitions of the driving state and the recovery state, it can be known that the necessary conditions for determining the motor state are the torque direction of the requested torque and the rotational speed direction of the motor speed. Therefore, it is necessary to first determine the torque direction of the final requested torque and the rotational speed direction of the motor speed.

[0115] Step 402: In response to the torque direction and the rotational speed direction being opposite, determine the recovery state as the final motor state.

[0116] During specific implementation, if the torque direction is the positive direction and the rotational speed direction is the negative direction, it indicates that the vehicle is decelerating backward, the requested torque is a resistance, and it is in the recovery state; if the torque direction is the negative direction and the rotational speed direction is the positive direction, it indicates that the vehicle is decelerating forward, the requested torque is a resistance, and it is in the recovery state; then when the torque direction and the rotational speed direction are opposite, determine the recovery state as the final motor state.

[0117] Step 403: In response to the torque direction and the rotational speed direction being the same, determine the driving state as the final motor state.

[0118] During specific implementation, if both the torque direction and the rotational speed direction are the positive direction, it indicates that the motor drives the vehicle to move forward, which is the driving state; if both the torque direction and the rotational speed direction are the negative direction, it indicates that the motor drives the vehicle to move backward, which is the driving state; then when the torque direction and the rotational speed direction are the same, determine the driving state as the final motor state, providing a data basis for determining the final motor state after inversion in the subsequent steps.

[0119] In some embodiments, as Figure 5 shown, determine the motor limit torque according to the current gear position, the initial requested torque, and the final requested torque, including:

[0120] Step 501: In response to the current gear position being the forward gear and the final requested torque being the negative direction, determine the preset maximum negative motor torque as the motor limit torque.

[0121] During specific implementation, if the current gear position is the forward gear and the final requested torque is the negative direction, select the maximum negative motor torque for torque absolute value limit control. At this time, corresponding to Figure 2 the working condition in the second row, there is no torque inversion, and the initial requested torque is also negative, then directly use the maximum negative motor torque for torque limit, which can ensure that the actual requested torque determined according to the initial requested torque does not exceed the motor's capacity limit before the inversion control, ensuring motor safety.

[0122] Step 502: In response to the current gear being the forward gear and the final requested torque being in the positive direction, determine the torque direction of the initial requested torque.

[0123] In specific implementation, if the current gear is the forward gear and the final requested torque is in the positive direction, select the maximum motor positive torque for torque absolute value limit control. At this time, the initial requested torque has two values, positive and negative, and separate limit controls are required to ensure the accuracy of the advance limit control.

[0124] Step 503: In response to the torque direction of the initial requested torque being in the positive direction, determine the preset maximum motor positive torque as the motor limit torque.

[0125] In specific implementation, when limiting the initial requested torque, the direction of the corresponding final requested torque is not yet known. It is necessary to first determine the torque direction of the initial requested torque. If the torque direction is in the positive direction, a positive limit torque is required to limit the value of the initial requested torque. Since the maximum motor positive torque is positive, the preset maximum motor positive torque is directly determined as the motor limit torque to ensure the accuracy of the advance limit control, so that it can be ensured before the inversion control that the actual requested torque determined according to the initial requested torque does not exceed the capacity limit of the motor and ensure the safety of the motor.

[0126] Step 504: In response to the torque direction of the initial requested torque being in the negative direction, determine the opposite of the preset maximum motor positive torque as the motor limit torque.

[0127] In specific implementation, if the torque direction is in the negative direction, a negative limit torque is required to limit the value of the initial requested torque. Since the maximum motor positive torque is positive, the opposite of the preset maximum motor positive torque is determined as the motor limit torque to ensure the accuracy of the advance limit control, so that it can be ensured before the inversion control that the actual requested torque determined according to the initial requested torque does not exceed the capacity limit of the motor and ensure the safety of the motor.

[0128] Step 505: In response to the current gear being the reverse gear and the final requested torque being in the positive direction, determine the opposite of the preset maximum motor positive torque as the motor limit torque.

[0129] In specific implementation, if the current gear is the reverse gear and the final requested torque is in the positive direction, select the maximum motor positive torque for torque absolute value limit control. At this time, corresponding to Figure 2 the working condition in line 8, torque inversion is performed, and the initial requested torque is negative. A negative limit torque is required to limit the initial requested torque. Then, the opposite of the preset maximum motor positive torque is determined as the motor limit torque, so that it can be ensured before the inversion control that the actual requested torque determined according to the initial requested torque does not exceed the capacity limit of the motor and ensure the safety of the motor.

[0130] Step 506: In response to the current gear being the reverse gear and the final requested torque being in the negative direction, determine the torque direction of the initial requested torque.

[0131] In specific implementation, if the current gear is the reverse gear and the final requested torque is in the negative direction, select the maximum negative motor torque for torque absolute value limit control. At this time, the initial requested torque has two possible values, positive and negative, and separate limit controls are required to ensure the accuracy of the early limit control.

[0132] Step 507: In response to the torque direction of the initial requested torque being in the positive direction, determine the opposite of the preset maximum negative motor torque as the motor limit torque.

[0133] In specific implementation, when limiting the initial requested torque, the direction of the corresponding final requested torque is not yet known. It is necessary to first determine the torque direction of the initial requested torque. If the torque direction is in the positive direction, a positive limit torque needs to be used to limit the value of the initial requested torque. Since the maximum negative motor torque is negative, the opposite of the preset maximum negative motor torque is determined as the motor limit torque to ensure the accuracy of the early limit control, so that it can be ensured before the inversion control that the actual requested torque determined according to the initial requested torque does not exceed the capacity limit of the motor and ensure the safety of the motor.

[0134] Step 508: In response to the torque direction of the initial requested torque being in the negative direction, determine the preset maximum negative motor torque as the motor limit torque.

[0135] In specific implementation, if the torque direction is in the negative direction, a negative limit torque needs to be used to limit the value of the initial requested torque. Since the maximum negative motor torque is negative, the preset maximum negative motor torque is directly determined as the motor limit torque to ensure the accuracy of the early limit control, so that it can be ensured before the inversion control that the actual requested torque determined according to the initial requested torque does not exceed the capacity limit of the motor and ensure the safety of the motor.

[0136] In some embodiments, as Figure 6 shown, determining the battery limit torque according to the initial requested torque and the final motor state includes:

[0137] Step 601: In response to the final motor state being the driving state, determine the preset maximum driving positive torque as the battery limit torque.

[0138] In specific implementation, when the final motor state is the driving state, select the maximum driving positive torque for torque absolute value limit control. At this time, the corresponding Figure 2For the operating conditions of the 1st and 7th lines in [text], if the initial requested torque is positive, the maximum driving positive torque is directly used for torque limitation, so that it can be ensured that the actual requested torque determined according to the initial requested torque does not exceed the capacity limit of the battery before the inversion control, thus ensuring battery safety.

[0139] Step 602: In response to the final motor state being the regeneration state, determine the torque direction of the initial requested torque.

[0140] In specific implementation, when the final motor state is the regeneration state, the maximum regeneration negative torque is selected for torque absolute value limitation control. At this time, the initial requested torque has two values, positive and negative, and separate limitation controls are required to ensure the accuracy of the advance limitation control.

[0141] Step 603: In response to the torque direction of the initial requested torque being the positive direction, determine the opposite of the preset maximum regeneration negative torque as the battery limitation torque.

[0142] In specific implementation, when limiting the initial requested torque, if the torque direction of the initial requested torque is the positive direction, a positive limiting torque is required to limit the value of the initial requested torque. Since the maximum regeneration negative torque is negative, the opposite of the preset maximum regeneration negative torque is determined as the battery limitation torque to ensure the accuracy of the advance limitation control, so that it can be ensured that the actual requested torque determined according to the initial requested torque does not exceed the capacity limit of the battery before the inversion control, thus ensuring battery safety.

[0143] Step 604: In response to the torque direction of the initial requested torque being the negative direction, determine the preset maximum regeneration negative torque as the battery limitation torque.

[0144] In specific implementation, if the torque direction is the negative direction, a negative limiting torque is required to limit the value of the initial requested torque. Since the maximum regeneration negative torque is negative itself, the preset maximum regeneration negative torque is directly determined as the battery limitation torque to ensure the accuracy of the advance limitation control, so that it can be ensured that the actual requested torque determined according to the initial requested torque does not exceed the capacity limit of the battery before the inversion control, thus ensuring battery safety.

[0145] In some embodiments, as Figure 7 shown, the initial requested torque is limited according to the motor limitation torque and the battery limitation torque to obtain the limited requested torque, including:

[0146] Step 701: In response to the initial requested torque being in the positive direction, determine the minimum value of the motor limitation torque and the battery limitation torque as the actual limitation torque, and determine the minimum value of the initial requested torque and the actual limitation torque as the limited requested torque.

[0147] During specific implementation, if the initial requested torque is in the positive direction, both the motor limit torque and the battery limit torque at this time are positive values, respectively indicating the positive limit of the torque request by the motor and the power battery. Then, 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 the threshold torque with the absolute value of the limit request torque. To achieve this, the torque request needs to be within the range less than or equal to the actual limit torque. Then, the minimum value of the initial requested torque and the actual limit torque is determined as the limit request torque, ensuring that the actual requested torque determined using the limit request torque will not damage the motor and the power battery. Among them, the torque directions of the limit request torque and the initial requested torque are the same.

[0148] Step 702: In response to the initial requested torque being in the negative direction, determine the maximum value of the motor limit torque and the battery limit torque as the actual limit torque, and determine the maximum value of the initial requested torque and the actual limit torque as the limit request torque.

[0149] During specific implementation, if the initial requested torque is in the negative direction, both the motor limit torque and the battery limit torque at this time are negative values, respectively indicating the negative limit of the torque request by the motor and the power battery. Then, 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 the threshold torque with the absolute value of the limit request torque. To achieve this, the torque request needs to be within the range greater than or equal to the actual limit torque. Then, the maximum value of the initial requested torque and the actual limit torque is determined as the limit request torque, ensuring that the actual requested torque determined using the limit request torque will not damage the motor and the power battery.

[0150] In some embodiments, as Figure 8 shown, determining the actual requested torque according to the limit request torque includes:

[0151] Step 801: In response to the current gear position, the torque direction of the initial requested torque, and the rotational speed direction of the motor speed satisfying the preset reverse condition, determine the opposite number of the limit request torque as the actual requested torque.

[0152] During specific implementation, if the current gear position is the forward gear, and both the rotational speed direction of the motor speed and the torque direction of the limit request torque are in the negative direction, it indicates that the subsequent actual driving direction is in the negative direction, which is opposite to the positive direction of the forward gear and does not meet the user's expectation. Then, the torque reverse condition is satisfied, and the torque direction of the limit request torque is reversed to obtain the actual requested torque with the torque direction in the positive direction. Since the absolute value of the limit request torque has been limited to a safe range before the reverse judgment, the actual requested torque after the reverse will not cause damage to the motor and the power battery.

[0153] If the current gear is the reverse gear and the rotational speed direction of the motor speed is the negative direction, which belongs to the scope of conventional control, directly reverse the torque direction of the restricted requested torque to obtain the actual requested torque. Since the absolute value of the restricted requested torque has been restricted to a safe range before the reverse judgment, the actual requested torque after the reverse will not cause damage to the motor and the power battery.

[0154] If the current gear is the reverse gear and both the rotational speed direction of the motor speed and the torque direction of the restricted requested torque are the positive direction, it indicates that the subsequent actual driving direction is the positive direction, which is opposite to the negative direction of the reverse gear and does not meet the user's expectation. Then, the torque reversal condition is satisfied, and the torque direction of the restricted requested torque is reversed to obtain the actual requested torque with a negative torque direction. Since the absolute value of the restricted requested torque has been restricted to a safe range before the reverse judgment, the actual requested torque after the reverse will not cause damage to the motor and the power battery.

[0155] That is Figure 2 The working conditions corresponding to lines 4, 5, 7, and 8 in [[ ]] meet the reverse condition, and the opposite of the restricted requested torque is determined as the actual requested torque.

[0156] Step 802: In response to the current gear, the torque direction of the initial requested torque, and the rotational speed direction of the motor speed not meeting the preset reverse condition, determine the restricted requested torque as the actual requested torque.

[0157] Specifically, in implementation [[ ]] Figure 2 The working conditions corresponding to lines 1, 2, 3, and 6 in [[ ]] do not meet the reverse condition, and the opposite of the restricted requested torque is determined as the actual requested torque.

[0158] It should be noted that the method of the embodiments of the present application can be executed by a single device, such as a computer or a server. The method of this embodiment can also be applied to a distributed scenario and completed by multiple devices cooperating with each other. In such a distributed scenario, one of these multiple devices can only execute one or more steps of the method of the embodiments of the present application, and these multiple devices will interact with each other to complete the described method.

[0159] It should be noted that some embodiments of the present application are described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be executed in a different order from that in the above embodiments and still achieve the desired result. Additionally, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired result. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0160] Based on the same inventive concept, corresponding to the method of any of the above embodiments, the present application further provides a control device for requested torque.

[0161] Reference Figure 9 , the control device for requested torque includes:

[0162] The final torque determination module 10 is configured to: determine the initial requested torque and the motor speed, and correct the initial requested torque according to the current gear position and the motor speed to obtain the final requested torque;

[0163] The final state determination module 20 is configured to: determine the final motor state according to the motor speed and the final requested torque;

[0164] The limited torque determination module 30 is configured to: determine the motor limited torque according to the current gear position, the initial requested torque and the final requested torque, and determine the battery limited torque according to the initial requested torque and the final motor state;

[0165] The actual request determination module 40 is configured to: limit the initial requested torque according to the motor limited torque and the battery limited torque to obtain the limited requested torque, and determine the actual requested torque according to the limited requested torque.

[0166] For the convenience of description, when describing the above device, it is divided into various modules according to functions and described separately. Of course, when implementing the present application, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0167] The device of the above embodiment is used to implement the corresponding control method of requested torque in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0168] Based on the same inventive concept, corresponding to the method of any of the above embodiments, the present application further provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, it implements the control method of requested torque described in any of the above embodiments.

[0169] Figure 10 FIG. shows a more specific schematic diagram of the hardware structure of the electronic device provided in this embodiment. The device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. Among them, the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are communicatively connected to each other inside the device through the bus 1050.

[0170] The processor 1010 can be implemented in the form of a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, etc., and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0171] The memory 1020 can be implemented in the form of a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, etc. The memory 1020 can store an operating system and other application programs. When implementing the technical solutions provided in the embodiments of this specification through software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0172] The input / output interface 1030 is used to connect to the input / output module to achieve information input and output. The input / output module can be configured as a component in the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Among them, the input device can include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device can include a display, a speaker, a vibrator, an indicator light, etc.

[0173] The communication interface 1040 is used to connect to a communication module (not shown in the figure) to achieve communication and interaction between this device and other devices. Among them, the communication module can achieve communication through a wired method (such as USB, network cable, etc.) or through a wireless method (such as a mobile network, WIFI, Bluetooth, etc.).

[0174] The bus 1050 includes a path for transmitting information between various components of the device (such as the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040).

[0175] 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, this device may also include other components necessary for normal operation. In addition, those skilled in the art can understand that the above device may also only include the components necessary to implement the solution of the embodiments of this specification and does not necessarily include all the components shown in the figure.

[0176] The electronic device of the above embodiment is used to implement the corresponding request torque control method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be elaborated here.

[0177] Based on the same inventive concept, corresponding to the method of any of the above embodiments, the present application also provides a non-transitory computer-readable storage medium storing computer instructions for causing the computer to execute the request torque control method described in any of the foregoing embodiments.

[0178] 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. The information can be computer-readable instructions, data structures, program modules, 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 technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette tapes, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible by a computing device.

[0179] The computer instructions stored in the storage medium of the above embodiment are used to cause the computer to execute the request torque control method described in any of the foregoing embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be elaborated here.

[0180] Based on the same inventive concept, corresponding to the method of any of the above embodiments, the present application also provides a vehicle including the request torque control device or the electronic device of the above embodiment, and the request torque control method described in any of the foregoing embodiments is executed by the electronic device or the request torque control device of the above embodiment, and has the beneficial effects of the corresponding method embodiments, which will not be elaborated here.

[0181] It can be understood that before using the technical solutions of the various embodiments of the present disclosure, the types, usage scopes, 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.

[0182] For example, when responding to an active request from a user, a prompt message is sent to the user to clearly prompt the user that the operation requested by the user will require obtaining and using the user's personal information. Thus, the user can autonomously choose whether to provide personal information to software or hardware such as an electronic device, an application program, a server, or a storage medium that performs the operations of the present disclosure's technical solution based on the prompt message.

[0183] As an optional but non-limiting implementation manner, when responding to an active request from a user, the manner of sending a prompt message to the user may be, for example, in the form of a pop-up window. The prompt message may be presented in text in the pop-up window. In addition, the pop-up window may also carry selection controls for the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0184] It can be understood that the above process of notifying and obtaining user authorization is only illustrative and does not limit the implementation manner of the present disclosure. Other manners that comply with relevant laws and regulations can also be applied to the implementation manner of the present disclosure.

[0185] Those of ordinary skill in the art should understand that the discussion of any of the above embodiments is only exemplary and is not intended to imply that the scope of the present application is limited to these examples; under the idea of the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations in different aspects of the embodiments of the present application as described above, and they are not provided in detail for the sake of brevity.

[0186] In addition, for the sake of simplicity of description and discussion, and in order not to make the embodiments of the present application difficult to understand, the well-known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided drawings. In addition, the devices may be shown in block diagram form 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 manners of these block diagram devices are highly dependent on the platform on which the embodiments of the present application will be implemented (i.e., these details should be completely within the understanding of those skilled in the art). In the case where specific details (such as circuits) are set forth to describe the exemplary embodiments of the present application, it will be apparent to those skilled in the art that the embodiments of the present application can be implemented without these specific details or with variations of these specific details. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0187] Although the present application has been described in connection with specific embodiments of the present application, many alternatives, modifications, and variations of these embodiments will be apparent to those of ordinary skill in the art based on the foregoing description. For example, other memory architectures (such as dynamic RAM (DRAM)) may be used with the embodiments discussed.

[0188] Embodiments of the present application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope claimed in the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application shall be included within 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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