Driving motor control method and device

Abstract

The invention provides a driving motor control method and device, and belongs to the field of automobile power control, when a vehicle slides at a certain speed and a driver does not step on an accelerator pedal or a brake pedal, a motor is reversely charged, a dragging torque is generated at wheels, at the moment, the actual output torque of the motor is a negative value, namely the dragging torque is output, and the driving motor is driven to rotate. The whole vehicle is in a deceleration state, under the condition, whether wheels slip due to the fact that the rotating speed of the wheels is reduced too fast due to the fact that the road adhesion is low and the dragging torque of the wheels is large is monitored, and when it is monitored that the wheels slip, the actual output torque of the driving motor is increased according to the dragging torque of the driving motor; and the negative value torque actually output by the motor is compensated until the wheels do not slip any more, and therefore the situation that the wheels slip due to dragging torque under the condition that the road adhesion force is low can be avoided.

Description

Technical Field

[0001] The present application relates to the field of automobile power control, and in particular to a drive motor control method and device. Background Art

[0002] With the gradual improvement of supporting facilities such as charging piles and the increasing manifestation of the economic advantages of new energy vehicles, new energy vehicles have already had a high penetration rate.

[0003] In order to fully collect the kinetic energy that may be wasted in the vehicle and maximize the cruising range of new energy vehicles, new energy vehicles are generally equipped with energy recovery functions. When the vehicle needs to coast or slow down, the rotational inertia of the vehicle wheels is used to drive the drive motor in the opposite direction to charge the power battery and achieve energy recovery. At this time, the drive motor will generate a drag torque.

[0004] When the road adhesion is low, the drag torque generated on the wheel may cause the wheel speed to decrease rapidly, resulting in wheel slip, which will adversely affect the controllability of the vehicle. Summary of the invention

[0005] In view of this, the present application provides a drive motor control method and device, which can avoid wheel slippage caused by the drag torque of the drive motor when the road adhesion is low. The method includes:

[0006] In one aspect, the present application provides a driving motor control method, the method comprising:

[0007] Monitor vehicle speed, accelerator pedal opening, and brake pedal opening.

[0008] When the vehicle speed is not zero, and the accelerator pedal opening and the brake pedal opening are both zero, monitor whether the wheels are slipping.

[0009] When wheel slip is detected, the drag torque of the drive motor is obtained.

[0010] The actual output torque of the drive motor is increased according to the drag torque until the wheels no longer slip.

[0011] Optionally, increasing the actual output torque of the driving motor according to the drag torque until the wheels no longer slip comprises:

[0012] According to a preset first corresponding relationship between the drag torque and the target output torque, the target output torque corresponding to the drag torque is determined.

[0013] According to a preset second corresponding relationship between the target output torque and the adjustment step length, the adjustment step length corresponding to the target output torque is determined.

[0014] Increase the actual output torque of the drive motor according to the adjustment step size until the wheels no longer slip.

[0015] Optionally, the method further comprises:

[0016] When the vehicle speed and the brake pedal opening are not zero, and the accelerator pedal opening is zero, monitor whether the anti-lock function is activated.

[0017] When the anti-lock braking function is detected to be activated, the drag torque is obtained.

[0018] The actual output torque of the drive motor is increased according to the drag torque so that the actual output torque of the drive motor is zero.

[0019] Optionally, increasing the actual output torque of the driving motor according to the drag torque so that the actual output torque of the driving motor is zero includes:

[0020] According to a preset first corresponding relationship between the drag torque and the target output torque, the target output torque corresponding to the drag torque is determined, and the target output torque is determined as the compensation torque.

[0021] The drive motor is controlled to output an increased compensating torque during the activation of the anti-lock braking function.

[0022] Optionally, the method further comprises:

[0023] When wheel slip is detected, the activation status of energy recovery, traction control and vehicle dynamics control is monitored.

[0024] Drag torque is obtained when energy recovery, traction control and vehicle dynamics control are detected to be active.

[0025] Keep the energy recovery function activated and increase the actual output torque of the drive motor according to the drag torque until the wheels no longer slip.

[0026] On the other hand, the present application also provides a drive motor control device, the device comprising:

[0027] The monitoring module is configured to monitor vehicle speed, accelerator pedal opening, and brake pedal opening.

[0028] The monitoring module is also configured to monitor whether the wheels are slipping when the vehicle speed is not zero and the accelerator pedal opening and the brake pedal opening are both zero.

[0029] The acquisition module is configured to acquire the drag torque of the driving motor when wheel slip is detected.

[0030] The control module is configured to increase the actual output torque of the driving motor according to the drag torque until the wheels no longer slip.

[0031] Optionally, the control module is further configured to:

[0032] According to a preset first corresponding relationship between the drag torque and the target output torque, the target output torque corresponding to the drag torque is determined.

[0033] According to a preset second corresponding relationship between the target output torque and the adjustment step length, the adjustment step length corresponding to the target output torque is determined.

[0034] Increase the actual output torque of the drive motor according to the adjustment step size until the wheels no longer slip.

[0035] Optionally, the monitoring module is further configured to monitor whether the anti-lock braking function is activated when the vehicle speed and the brake pedal opening are both non-zero and the accelerator pedal opening is zero.

[0036] The acquisition module is further configured to acquire the drag torque when activation of the anti-lock braking function is detected.

[0037] The control module is further configured to increase the actual output torque of the driving motor according to the drag torque so that the actual output torque of the driving motor is zero.

[0038] Optionally, the control module is further configured to:

[0039] According to a preset first corresponding relationship between the drag torque and the target output torque, the target output torque corresponding to the drag torque is determined, and the target output torque is determined as the compensation torque.

[0040] The drive motor is controlled to output an increased compensating torque during the activation of the anti-lock braking function.

[0041] Optionally, the monitoring module is further configured to monitor activation states of an energy recovery function, a traction control system and a vehicle dynamics control system when wheel slip is detected.

[0042] The acquisition module is further configured to acquire the drag torque when it is detected that the energy recovery function, the traction control system and the vehicle dynamic control system are in an activated state.

[0043] The control module is further configured to keep the energy recovery function activated and increase the actual output torque of the drive motor according to the drag torque until the wheels no longer slip.

[0044] By adopting the drive motor control method provided in the present application, when the vehicle is gliding at a certain speed and the driver does not step on the accelerator pedal or the brake pedal, the motor is reversely charged and generates a drag torque. At this time, the actual output torque of the motor is a negative value. In this case, the wheel is monitored to see whether the speed is reduced too quickly due to low road adhesion and large drag torque at the wheel, resulting in slippage. When wheel slippage is detected, the actual output torque of the drive motor is increased according to the drag torque, and the negative torque of the actual output of the motor is compensated until the wheel no longer slips, thereby avoiding wheel slippage due to the drag torque when the road adhesion is low. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0046] Figure 1 A flow chart of a drive motor control method provided in an embodiment of the present application;

[0047] Figure 2 Another flow chart of the drive motor control method provided in the embodiment of the present application;

[0048] Figure 3 Another flow chart of the drive motor control method provided in the embodiment of the present application;

[0049] Figure 4 This is a schematic diagram of the drive motor control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0051] The present application provides a method for controlling a driving motor. Figure 1 As shown, the method includes steps S101, S102, S103 and S104, wherein:

[0052] In step S101 , the vehicle speed, the accelerator pedal opening, and the brake pedal opening are monitored.

[0053] In step S102, when the vehicle speed is not zero, and the accelerator pedal opening and the brake pedal opening are both zero, it is monitored whether the wheels are slipping.

[0054] In step S103 , when wheel slip is detected, the drag torque of the drive motor is acquired.

[0055] In step S104 , the actual output torque of the driving motor is increased according to the drag torque until the wheels no longer slip.

[0056] In some optional embodiments, increasing the torque of the driving motor according to the drag torque until the wheels no longer slip comprises:

[0057] According to a preset first corresponding relationship between the drag torque and the target output torque, the target output torque corresponding to the drag torque is determined.

[0058] According to a preset second corresponding relationship between the target output torque and the adjustment step length, the adjustment step length corresponding to the target output torque is determined.

[0059] Increase the actual output torque of the drive motor according to the adjustment step size until the wheels no longer slip.

[0060] In some optional embodiments, the method further comprises:

[0061] When the vehicle speed and the brake pedal opening are not zero, and the accelerator pedal opening is zero, monitor whether the anti-lock function is activated.

[0062] When the anti-lock braking function is detected to be activated, the drag torque is obtained.

[0063] The actual output torque of the drive motor is increased according to the drag torque so that the actual output torque of the drive motor is zero.

[0064] In some optional embodiments, increasing the actual output torque of the drive motor according to the drag torque so that the actual output torque of the drive motor is zero includes:

[0065] According to a preset first corresponding relationship between the drag torque and the target output torque, the target output torque corresponding to the drag torque is determined, and the target output torque is determined as the compensation torque.

[0066] The drive motor is controlled to output an increased compensating torque during the activation of the anti-lock braking function.

[0067] In some optional embodiments, the method further comprises:

[0068] When wheel slip is detected, the activation status of energy recovery, traction control and vehicle dynamics control is monitored.

[0069] Drag torque is obtained when energy recovery, traction control and vehicle dynamics control are detected to be active.

[0070] Keep the energy recovery function activated and increase the actual output torque of the drive motor according to the drag torque until the wheels no longer slip.

[0071] By adopting the drive motor control method provided in the present application, when the vehicle is gliding at a certain speed and the driver does not step on the accelerator pedal or the brake pedal, the motor is reversely charged to generate a drag torque, and a drag torque is generated at the wheel. At this time, the actual output torque of the motor is negative. In this case, the wheel is monitored to see whether the speed is reduced too quickly due to low road adhesion and large drag torque at the wheel, resulting in slippage. When wheel slippage is detected, the actual output torque of the drive motor is increased according to the drag torque, and the negative torque of the actual output of the motor is compensated until the wheel no longer slips, thereby avoiding wheel slippage due to drag torque when the road adhesion is low.

[0072] The present application provides a method for controlling a driving motor. Figure 2 As shown, the method can be executed by a vehicle controller, and the method includes steps S201, S202, S203, S204, S205 and S206, wherein:

[0073] In step S201 , the vehicle speed, the accelerator pedal opening, and the brake pedal opening are monitored.

[0074] It is understandable that wheel slippage due to low road adhesion and large drag torque generally occurs when the vehicle is sliding at a certain initial speed and the driver neither presses the accelerator pedal nor the brake pedal. Therefore, by monitoring the vehicle speed, accelerator pedal opening and brake pedal opening, it is possible to determine whether the vehicle is in a condition where wheel slippage is likely to occur due to a large drag torque.

[0075] In step S202, when the vehicle speed is not zero, and the accelerator pedal opening and the brake pedal opening are both zero, it is monitored whether the wheels are slipping.

[0076] It can be understood that when the vehicle speed is not zero and the accelerator pedal opening and brake pedal opening are both zero, it means that the vehicle is sliding at a certain initial speed and the driver has neither stepped on the accelerator pedal nor the brake pedal. At this time, the vehicle is prone to wheel slip due to the large drag torque. Under this condition, it is necessary to monitor whether the wheels are slipping.

[0077] Whether a wheel is slipping can be determined by monitoring the changes in wheel speed or comparing the speed difference of the four wheels. When the speed of a wheel drops too quickly or is lower than that of other wheels, it indicates that the wheel may be slipping.

[0078] In step S203 , when wheel slip is detected, the drag torque of the drive motor is acquired.

[0079] In step S204 , the target output torque corresponding to the drag torque is determined according to a preset first corresponding relationship between the drag torque and the target output torque.

[0080] The drag torque can be negative, that is, the direction of the drag torque is opposite to the direction of the vehicle's forward movement.

[0081] It is understandable that the preset first correspondence between the drag torque and the target output torque can be obtained by pre-calibration and stored. In the preset first correspondence between the drag torque and the target output torque, the target output torque can be the absolute value of the drag torque.

[0082] In step S205, the adjustment step corresponding to the target output torque is determined according to a preset second corresponding relationship between the target output torque and the adjustment step.

[0083] It can be understood that the preset second corresponding relationship between the target output torque and the adjustment step can be pre-calibrated and stored. In the second corresponding relationship, the target output torque and the adjustment step can be positively correlated, that is, the larger the target output torque, the larger the adjustment step, and the smaller the target output torque, the smaller the adjustment step, thereby ensuring timely control as much as possible while ensuring smooth control.

[0084] In step S206, the actual output torque of the drive motor is increased according to the adjustment step size until the wheels no longer slip.

[0085] It is understandable that even in the case of low road adhesion, the wheels can remain non-slip under the action of a certain drag torque. Therefore, if the target output torque determined by step S204 is the first torque, there is no need for the drive motor to directly increase the actual output torque by the first torque. It is only necessary to allow the drive motor to gradually increase the actual output torque according to the adjustment step until the wheels no longer slip. At this time, the increase in the actual output torque of the drive motor may be less than the first torque.

[0086] In traditional technology, when wheel slip is detected and the traction control system and vehicle dynamic control system are activated, if the energy recovery function is activated at this time, the energy recovery function will be directly turned off. When the wheel no longer slips, the energy recovery function will be turned on again. This control strategy may result in the inability to recover energy, or cause the vehicle to stall at the moment the energy recovery function is turned off or reopened, or cause the energy recovery function to fail to turn on and be unable to be turned on again.

[0087] In view of this, in some optional embodiments of the present application, the method further includes:

[0088] When wheel slip is detected, the activation status of energy recovery, traction control and vehicle dynamics control is monitored.

[0089] Drag torque is obtained when energy recovery, traction control and vehicle dynamics control are detected to be active.

[0090] Keep the energy recovery function activated and increase the actual output torque of the drive motor according to the drag torque until the wheels no longer slip.

[0091] In some optional embodiments, referring to steps S204-S206, the driving motor torque may be increased according to the drag torque until the wheels no longer slip in the following manner:

[0092] According to a preset first corresponding relationship between the drag torque and the target output torque, the target output torque corresponding to the drag torque is determined.

[0093] According to a preset second corresponding relationship between the target output torque and the adjustment step length, the adjustment step length corresponding to the target output torque is determined.

[0094] Increase the actual output torque of the drive motor according to the adjustment step size until the wheels no longer slip.

[0095] By adopting the drive motor control method provided in the present application, when the vehicle is gliding at a certain speed and the driver does not step on the accelerator pedal or the brake pedal, the motor is reversely charged and a drag torque is generated at the wheel. At this time, the actual output torque of the motor is negative. In this case, the wheel is monitored to see whether the speed is reduced too quickly due to low road adhesion and large drag torque at the wheel, resulting in slippage. When wheel slippage is detected, the actual output torque of the drive motor is increased according to the drag torque at the wheel, and the negative torque of the actual output of the motor is compensated until the wheel no longer slips, thereby avoiding wheel slippage due to drag torque when the road adhesion is low.

[0096] In addition to avoiding wheel slip due to drag torque when the road surface adhesion is low when the vehicle is in a gliding state, it is also necessary to avoid the drag torque generated at the wheel when the anti-lock function is activated, which may affect the anti-lock function's control of the wheel slip state and affect the braking distance. The drag torque at the wheel should not interfere with the control of the anti-lock function.

[0097] In view of this, an embodiment of the present application provides a driving motor control method, which can be executed by a vehicle controller, such as Figure 3 As shown, the method includes steps S301, S302, S303 and S304, wherein:

[0098] In step S301, the vehicle speed, the accelerator pedal opening, and the brake pedal opening are monitored.

[0099] In step S302, when the vehicle speed and the brake pedal opening are not zero, and the accelerator pedal opening is zero, it is monitored whether the anti-lock function is activated.

[0100] It is understandable that when the vehicle speed and the brake pedal opening are not zero, and the accelerator pedal opening is zero, it indicates that the vehicle has a certain initial speed, and the driver is stepping on the brake and performing a deceleration operation. Under such conditions, if the road adhesion is low and / or the vehicle braking force is too large, it may cause the wheels to lock, and wheel locking will cause the driver to be unable to control the vehicle steering. In this case, the anti-lock function will be activated, causing the brake pump to quickly and intermittently pressurize, so that the wheels are braked, ensuring the braking distance while keeping the vehicle in a controllable state. Therefore, it is necessary to monitor whether the anti-lock function is activated in step S302.

[0101] In step S303 , when it is detected that the anti-lock function is activated, the drag torque of the drive motor is obtained.

[0102] It is understandable that when the activation of the anti-lock braking function is detected, in order to avoid the drag torque of the wheel affecting the anti-lock braking function, the source of the drag torque of the wheel (ie, the drag torque of the drive motor) is obtained in step S303, so as to perform subsequent compensation operations.

[0103] In step S304 , the actual output torque of the driving motor is increased according to the drag torque so that the actual output torque of the driving motor is zero.

[0104] It can be understood that the drag torque applied to the wheel is generated due to the drag torque (negative torque) output by the drive motor. Therefore, it is necessary to increase the actual output torque of the drive motor according to the drag torque and compensate for the drag torque (negative torque) output by the drive motor, so that the actual output torque of the drive motor is reset to zero to avoid affecting the anti-lock function.

[0105] In a control strategy of traditional technology, if the anti-lock braking function is activated and the energy recovery function is also activated at this time, the energy recovery function will be directly turned off. When the anti-lock braking function is not activated, the energy recovery function will be turned on again. This control strategy may cause energy recovery to be unable to be performed, or cause the vehicle to stall at the moment the energy recovery function is turned off or reopened, or cause the energy recovery function to fail to be turned on and unable to be turned on again.

[0106] In view of this, in some optional embodiments, when the vehicle speed and the brake pedal opening are not zero, and the accelerator pedal opening is zero, in addition to monitoring whether the anti-lock braking function is activated, it is also monitored whether the energy recovery function is activated. When it is detected that both the anti-lock braking function and the energy recovery function are activated, the energy recovery function is kept in an activated state and the drag torque is obtained.

[0107] In some optional embodiments, increasing the actual output torque of the drive motor according to the drag torque so that the actual output torque of the drive motor is zero includes:

[0108] According to a preset first corresponding relationship between the drag torque and the target output torque, the target output torque corresponding to the drag torque is determined, and the target output torque is determined as the compensation torque.

[0109] The drive motor is controlled to output an increased compensating torque during the activation of the anti-lock braking function.

[0110] In some optional embodiments, referring to steps S204-S206, the output of the driving motor is compensated and cleared, and the method includes:

[0111] According to a preset first corresponding relationship between the drag torque and the target output torque, the target output torque corresponding to the drag torque is determined.

[0112] The drag torque can be negative, that is, the direction of the drag torque is opposite to the direction of the vehicle's forward movement.

[0113] It is understandable that the preset first correspondence between the drag torque and the target output torque can be obtained by pre-calibration and stored. In the preset first correspondence between the drag torque and the target output torque, the target output torque can be the absolute value of the drag torque.

[0114] Then, according to a preset second corresponding relationship between the target output torque and the adjustment step length, the adjustment step length corresponding to the target output torque is determined.

[0115] It can be understood that the preset second corresponding relationship between the target output torque and the adjustment step can be pre-calibrated and stored. In the second corresponding relationship, the target output torque and the adjustment step can be positively correlated, that is, the larger the target output torque, the larger the adjustment step, and the smaller the target output torque, the smaller the adjustment step, thereby ensuring timely control as much as possible while ensuring smooth control.

[0116] Furthermore, the drive motor is controlled to increase the output compensation torque according to the adjustment step size during the activation of the anti-lock function, so as to clear the torque output by the drive motor.

[0117] By adopting the drive motor control method provided in the present application, when the vehicle is coasting at a certain speed and the activation of the anti-lock braking function is detected, the actual output torque of the drive motor is increased according to the drag torque, thereby clearing the actual output torque of the drive motor to zero, thereby avoiding the drag torque of the wheel from affecting the anti-lock braking function.

[0118] The present application also provides a driving motor control device, such as Figure 4 As shown, the device comprises:

[0119] The monitoring module 401 is configured to monitor the vehicle speed, the accelerator pedal opening and the brake pedal opening. The monitoring module 401 is also configured to monitor whether the wheel is slipping when the vehicle speed is not zero and the accelerator pedal opening and the brake pedal opening are both zero.

[0120] The acquisition module 402 is configured to acquire the drag torque of the driving motor when wheel slip is detected.

[0121] The control module 403 is configured to increase the actual output torque of the driving motor according to the drag torque until the wheels no longer slip.

[0122] In some optional embodiments, the control module 403 is further configured to:

[0123] According to a preset first corresponding relationship between the drag torque and the target output torque, the target output torque corresponding to the drag torque is determined.

[0124] According to a preset second corresponding relationship between the target output torque and the adjustment step length, the adjustment step length corresponding to the target output torque is determined.

[0125] Increase the actual output torque of the drive motor according to the adjustment step size until the wheels no longer slip.

[0126] In some optional embodiments, the monitoring module 401 is further configured to monitor whether the anti-lock braking function is activated when the vehicle speed and the brake pedal opening are not zero and the accelerator pedal opening is zero.

[0127] The acquisition module 402 is further configured to acquire the drag torque when the activation of the anti-lock braking function is detected.

[0128] The control module 403 is further configured to: increase the actual output torque of the driving motor according to the drag torque so that the actual output torque of the driving motor is zero.

[0129] In some optional embodiments, the control module 403 is further configured to:

[0130] According to a preset first corresponding relationship between the drag torque and the target output torque, the target output torque corresponding to the drag torque is determined, and the target output torque is determined as the compensation torque.

[0131] The drive motor is controlled to output an increased compensating torque during the activation of the anti-lock braking function.

[0132] In some optional embodiments, the monitoring module 401 is further configured to: when wheel slip is detected, monitor the activation status of the energy recovery function, the traction control system and the vehicle dynamic control system.

[0133] The acquisition module 402 is further configured to acquire the drag torque when it is monitored that the energy recovery function, the traction control system and the vehicle dynamic control system are in an activated state.

[0134] The control module 403 is further configured to: keep the energy recovery function in an activated state, and increase the actual output torque of the drive motor according to the drag torque until the wheels no longer slip.

[0135] By using the drive motor control device provided in the present application, when the vehicle is gliding at a certain speed and the driver does not step on the accelerator pedal or the brake pedal, the motor is reversely charged and a drag torque is generated at the wheel. At this time, the actual output torque of the motor is negative, and a drag torque is generated. In this case, the monitoring module 401 monitors whether the wheel is slipping due to low road adhesion and large drag torque at the wheel due to excessive reduction in speed. When wheel slippage is detected, the acquisition module 402 and the control module 403 cooperate to increase the actual output torque of the drive motor according to the drag torque of the drive motor, and compensate for the negative torque of the actual output of the motor until the wheel no longer slips, thereby avoiding wheel slippage due to drag torque when the road adhesion is low.

[0136] In the present application, it should be understood that the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features.

[0137] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only.

[0138] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

[0139] The above description is only for the purpose of facilitating those skilled in the art to understand the technical solution of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A driving motor control method, characterized in that: The method comprises: Monitor vehicle speed, accelerator pedal opening, and brake pedal opening; When the vehicle speed is not zero, and the accelerator pedal opening and the brake pedal opening are both zero, monitoring whether the wheels are slipping; When wheel slip is detected, the drag torque of the drive motor is obtained; The actual output torque of the driving motor is increased according to the drag torque until the wheels no longer slip.

2. The driving motor control method according to claim 1, characterized in that: The step of increasing the actual output torque of the driving motor according to the drag torque until the wheels no longer slip comprises: determining the target output torque corresponding to the drag torque according to a preset first corresponding relationship between the drag torque and the target output torque; Determining the adjustment step corresponding to the target output torque according to a preset second corresponding relationship between the target output torque and the adjustment step; The actual output torque of the drive motor is increased according to the adjustment step size until the wheels no longer slip.

3. The driving motor control method according to claim 1, characterized in that: The method further comprises: When the vehicle speed and the brake pedal opening are both non-zero, and the accelerator pedal opening is zero, monitoring whether an anti-lock braking function is activated; When the anti-lock braking function is detected to be activated, obtaining the drag torque; The actual output torque of the drive motor is increased according to the drag torque so that the actual output torque of the drive motor is zero.

4. The driving motor control method according to claim 3, characterized in that: The increasing the actual output torque of the drive motor according to the drag torque to make the actual output torque of the drive motor zero comprises: determining the target output torque corresponding to the drag torque according to a preset first corresponding relationship between the drag torque and the target output torque, and determining the target output torque as the compensation torque; The drive motor is controlled to increase the output of the compensation torque during activation of the anti-lock function.

5. The driving motor control method according to claim 1, characterized in that: The method further comprises: When wheel slip is detected, monitoring the activation status of energy recovery, traction control and vehicle dynamics control systems; When it is monitored that the energy recovery function, the traction control system and the vehicle dynamic control system are in an activated state, acquiring the drag torque; The energy recovery function is kept activated, and the actual output torque of the drive motor is increased according to the drag torque until the wheels no longer slip.

6. A drive motor control device, characterized in that: The device comprises: A monitoring module configured to monitor vehicle speed, accelerator pedal opening, and brake pedal opening; The monitoring module is further configured to monitor whether the wheel is slipping when the vehicle speed is not zero and the accelerator pedal opening and the brake pedal opening are both zero; An acquisition module is configured to acquire the drag torque of the drive motor when wheel slip is detected; The control module is configured to increase the actual output torque of the driving motor according to the drag torque until the wheels no longer slip.

7. The drive motor control device according to claim 6, characterized in that: The control module is further configured to: determining the target output torque corresponding to the drag torque according to a preset first corresponding relationship between the drag torque and the target output torque; Determining the adjustment step corresponding to the target output torque according to a preset second corresponding relationship between the target output torque and the adjustment step; The actual output torque of the drive motor is increased according to the adjustment step size until the wheels no longer slip.

8. The drive motor control device according to claim 6, characterized in that: The monitoring module is further configured to: when the vehicle speed and the brake pedal opening are both not zero, and the accelerator pedal opening is zero, monitor whether the anti-lock function is activated; The acquisition module is further configured to: acquire the drag torque when the anti-lock braking function is detected to be activated; The control module is further configured to increase the actual output torque of the drive motor according to the drag torque to make the actual output torque of the drive motor zero.

9. The drive motor control device according to claim 8, characterized in that: The control module is further configured to: determining the target output torque corresponding to the drag torque according to a preset first corresponding relationship between the drag torque and the target output torque, and determining the target output torque as the compensation torque; The drive motor is controlled to increase the output of the compensation torque during activation of the anti-lock function.

10. The drive motor control device according to claim 6, characterized in that: The monitoring module is further configured to: when wheel slip is detected, monitor the activation status of the energy recovery function, the traction control system and the vehicle dynamic control system; The acquisition module is further configured to: acquire the drag torque when monitoring that the energy recovery function, the traction control system and the vehicle dynamic control system are in an activated state; The control module is further configured to: keep the energy recovery function in an activated state, and increase the actual output torque of the drive motor according to the drag torque until the wheels no longer slip.

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