Drive motor control method and device

Abstract

This application provides a drive motor control method and device, belonging to the field of automotive power control. When the vehicle is coasting at a certain speed and the driver does not press the accelerator or brake pedal, the motor performs reverse charging and generates a drag torque at the wheel. At this time, the actual output torque of the motor is negative, that is, the output drag torque, and the whole vehicle is in a deceleration state. In this case, it is monitored whether the wheel speed decreases too quickly due to the low road surface adhesion and the large drag torque at the wheel, thus causing slippage. When wheel slippage is detected, the actual output torque of the drive motor is increased according to the drag torque of the drive motor to compensate for the negative value of the actual output torque of the motor until the wheel no longer slips. This can avoid wheel slippage caused by drag torque when the road surface adhesion is low.

Description

Technical Field

[0001] This application relates to the field of automotive power control, and in particular to a drive motor control method and device. Background Technology

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

[0003] To fully recover the kinetic energy that the vehicle may waste and maximize the driving range of new energy vehicles, new energy vehicles are generally equipped with energy recovery functions. When the vehicle needs to coast or decelerate, the rotational inertia of the vehicle's wheels is used to drive the drive motor in the opposite direction to charge the power battery, thus realizing energy recovery. At this time, the drive motor will generate a drag torque.

[0004] When the road surface adhesion is low, the drag torque generated on the wheel may cause the wheel speed to drop rapidly, resulting in wheel slippage and adversely affecting the vehicle's controllability. Summary of the Invention

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

[0006] On the one hand, this application provides a drive motor control method, the method including:

[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 brake pedal opening are both zero, monitor whether the wheels are slipping.

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

[0010] Increase the actual output torque of the drive motor based on the drag torque until the wheels no longer slip.

[0011] Optionally, the actual output torque of the drive motor can be increased based on the drag torque until the wheels no longer slip, including:

[0012] Based on the preset first correspondence between the drag torque and the target output torque, the target output torque corresponding to the drag torque is determined.

[0013] Based on the preset second correspondence between the target output torque and the adjustment step size, the adjustment step size corresponding to the target output torque is determined.

[0014] Increase the actual output torque of the drive motor by adjusting the step size until the wheels no longer slip.

[0015] Alternatively, the method may also include:

[0016] When the vehicle speed and brake pedal opening are both non-zero, and the accelerator pedal opening is zero, monitor whether the anti-lock braking 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 by increasing the drag torque, so that the actual output torque of the drive motor is zero.

[0019] Optionally, increasing the actual output torque of the drive motor based on the drag torque to make the actual output torque of the drive motor zero includes:

[0020] Based on the preset first correspondence 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 control drive motor will output increased compensation torque during the period when the anti-lock braking function is activated.

[0022] Alternatively, the method may also include:

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

[0024] When the energy recovery function, traction control system and vehicle dynamic control system are detected to be active, drag torque is obtained.

[0025] Keep the energy recovery function active 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, this 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 both the accelerator pedal opening and the brake pedal opening are zero.

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

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

[0031] Alternatively, the control module can also be configured as follows:

[0032] Based on the preset first correspondence between the drag torque and the target output torque, the target output torque corresponding to the drag torque is determined.

[0033] Based on the preset second correspondence between the target output torque and the adjustment step size, the adjustment step size corresponding to the target output torque is determined.

[0034] Increase the actual output torque of the drive motor by adjusting the step size until the wheels no longer slip.

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

[0036] The acquisition module is also configured to acquire drag torque when anti-lock braking system activation is detected.

[0037] The control module is also configured to increase the actual output torque of the drive motor based on the drag torque, so that the actual output torque of the drive motor is zero.

[0038] Alternatively, the control module can also be configured as follows:

[0039] Based on the preset first correspondence 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 control drive motor will output increased compensation torque during the period when the anti-lock braking function is activated.

[0041] Optionally, the monitoring module is also configured to monitor the activation status of the energy recovery function, traction control system, and vehicle dynamics control system when wheel slippage is detected.

[0042] The acquisition module is also configured to acquire drag torque when the energy recovery function, traction control system and vehicle dynamics control system are detected to be active.

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

[0044] Using the drive motor control method provided in this application, when the vehicle is coasting at a certain speed and the driver has not pressed the accelerator or brake pedal, the motor performs reverse charging and generates drag torque. At this time, the actual output torque of the motor is negative. In this case, it is monitored whether the wheel speed drops too quickly due to low road surface adhesion and large drag torque at the wheel, thus causing slippage. When wheel slippage is detected, the actual output torque of the drive motor is increased according to the drag torque to compensate for the negative torque of the actual output of the motor until the wheel no longer slips. This can avoid wheel slippage caused by drag torque when the road surface adhesion is low. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 A flowchart of the drive motor control method provided in the embodiments of this application;

[0047] Figure 2 Another flowchart of the drive motor control method provided in the embodiments of this application;

[0048] Figure 3 Another flowchart of the drive motor control method provided in the embodiments of this application;

[0049] Figure 4 This is a schematic diagram of the drive motor control device provided in an embodiment of this application. Detailed Implementation

[0050] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0051] This application provides a drive motor control method, such as... Figure 1 As shown, the method includes steps S101, S102, S103, and S104, wherein:

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

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

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

[0055] In step S104, the actual output torque of the drive motor is increased according to the drag torque until the wheel no longer slips.

[0056] In some alternative embodiments, increasing the drive motor torque based on the drag torque until the wheel no longer slips includes:

[0057] Based on the preset first correspondence between the drag torque and the target output torque, the target output torque corresponding to the drag torque is determined.

[0058] Based on the preset second correspondence between the target output torque and the adjustment step size, the adjustment step size corresponding to the target output torque is determined.

[0059] Increase the actual output torque of the drive motor by adjusting the step size until the wheels no longer slip.

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

[0061] When the vehicle speed and brake pedal opening are both non-zero, and the accelerator pedal opening is zero, monitor whether the anti-lock braking 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 by increasing 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 based on the drag torque to make the actual output torque of the drive motor zero includes:

[0065] Based on the preset first correspondence 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 control drive motor will output increased compensation torque during the period when the anti-lock braking function is activated.

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

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

[0069] When the energy recovery function, traction control system and vehicle dynamic control system are detected to be active, drag torque is obtained.

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

[0071] Using the drive motor control method provided in this application, when the vehicle is coasting at a certain speed and the driver has not pressed the accelerator or brake pedal, the motor performs reverse charging to generate drag torque and a drag force at the wheel. At this time, the actual output torque of the motor is negative. In this case, it is monitored whether the wheel speed drops too quickly due to low road surface adhesion and large drag torque at the wheel, thus causing slippage. When wheel slippage is detected, the actual output torque of the drive motor is increased according to the drag torque to compensate for the negative torque of the motor's actual output until the wheel no longer slips. This can prevent wheel slippage caused by drag torque when the road surface adhesion is low.

[0072] This application provides a drive motor control method, such as... Figure 2 As shown, the method can be executed by the vehicle controller, and includes steps S201, S202, S203, S204, S205, and S206, wherein:

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

[0074] Understandably, wheel slippage caused by low road surface adhesion and high drag torque usually occurs when a vehicle is coasting at a certain initial speed and the driver has neither pressed 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 high drag torque.

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

[0076] Understandably, when the vehicle speed is not zero and both the accelerator pedal opening and the brake pedal opening are zero, it indicates that the vehicle is coasting at a certain initial speed and the driver has neither pressed the accelerator pedal nor the brake pedal. In this case, the vehicle is prone to wheel slippage due to the large drag torque. Under such conditions, it is necessary to monitor whether the wheels are slipping.

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

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

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

[0080] Dragging torque can be negative, meaning that the direction of dragging torque is opposite to the direction of the car's forward movement.

[0081] It is understandable that the preset first correspondence between the drag torque and the target output torque can be obtained and stored through pre-calibration. 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 the preset second correspondence between the target output torque and the adjustment step.

[0083] It is understandable that the second pre-defined correspondence between the target output torque and the adjustment step size can be pre-calibrated and stored. In the second correspondence, the target output torque and the adjustment step size can be positively correlated, that is, the larger the target output torque, the larger the adjustment step size, and the smaller the target output torque, the smaller the adjustment step size, so as to ensure 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 wheel no longer slips.

[0085] It is understandable that even when the road surface adhesion is low, the wheel can still 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, it is not necessary to make the drive motor directly increase the actual output torque to the first torque. It is only necessary to make the drive motor gradually increase the actual output torque according to the adjustment step size until the wheel no longer slips. 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 slippage is detected and the traction control system and vehicle dynamic control system are activated, if the energy recovery function is active at this time, the energy recovery function will be directly turned off. When the wheel slippage stops, the energy recovery function will be turned back on. This control strategy may result in the inability to recover energy, or cause the vehicle to jerk at the moment the energy recovery function is turned off or on again, or cause the energy recovery function to fail to start and cannot be restarted.

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

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

[0089] When the energy recovery function, traction control system and vehicle dynamic control system are detected to be active, drag torque is obtained.

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

[0091] In some alternative embodiments, referring to steps S204-S206, the drive motor torque can also be increased based on the drag torque until the wheels no longer slip:

[0092] Based on the preset first correspondence between the drag torque and the target output torque, the target output torque corresponding to the drag torque is determined.

[0093] Based on the preset second correspondence between the target output torque and the adjustment step size, the adjustment step size corresponding to the target output torque is determined.

[0094] Increase the actual output torque of the drive motor by adjusting the step size until the wheels no longer slip.

[0095] Using the drive motor control method provided in this application, when the vehicle is coasting at a certain speed and the driver has not pressed the accelerator or brake pedal, the motor performs reverse charging and generates a drag torque at the wheel. At this time, the actual output torque of the motor is negative. In this case, it is monitored whether the wheel speed drops too quickly due to low road surface adhesion and large drag torque at the wheel, thus causing slippage. When wheel slippage is detected, the actual output torque of the drive motor is increased according to the drag torque at the wheel to compensate for the negative torque of the motor's actual output until the wheel no longer slips. This can prevent wheel slippage caused by drag torque when the road surface adhesion is low.

[0096] In addition to preventing wheel slippage due to drag torque when the vehicle is coasting and the road surface adhesion is low, it is also necessary to prevent drag torque generated at the wheels from affecting the anti-lock braking system's control over wheel slippage and thus impacting braking distance when the anti-lock braking system is activated. The drag torque at the wheels should not interfere with the control of the anti-lock braking system.

[0097] Therefore, embodiments of this application provide a drive 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, accelerator pedal opening, and brake pedal opening are monitored.

[0099] In step S302, when the vehicle speed and brake pedal opening are both non-zero, and the accelerator pedal opening is zero, the anti-lock braking function is monitored to see if it is activated.

[0100] Understandably, when the vehicle speed and brake pedal opening are both non-zero, and the accelerator pedal opening is zero, it indicates that the vehicle has a certain initial speed and the driver is applying the brakes and performing a deceleration operation. Under these conditions, if the road surface adhesion is low and / or the vehicle braking force is too great, wheel lock-up may occur. Wheel lock-up will cause the driver to lose control of the vehicle's steering. In this situation, the anti-lock braking system (ABS) will be activated, causing the brake pump to rapidly and intermittently pressurize, thereby enabling the wheels to apply intermittent braking, ensuring braking distance while keeping the vehicle under control. Therefore, it is necessary to monitor whether the ABS is activated in step S302.

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

[0102] Understandably, when the anti-lock braking function is detected to be activated, 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 (i.e. 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 drive motor is increased according to the drag torque, so that the actual output torque of the drive motor is zero.

[0104] It is understandable that the drag torque applied to the wheels is generated by 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 to compensate for the drag torque (negative torque) output by the drive motor, so as to clear the actual output torque of the drive motor to zero and avoid affecting the anti-lock braking function.

[0105] In a traditional control strategy, if the anti-lock braking system (ABS) is activated and the energy recovery function is also activated, the energy recovery function will be directly turned off. When the ABS is deactivated, 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 jerk when the energy recovery function is turned off or on again, or cause the energy recovery function to fail to start and cannot be restarted.

[0106] Therefore, in some optional embodiments, when the vehicle speed and brake pedal opening are both non-zero, and the accelerator pedal opening is zero, in addition to monitoring whether the anti-lock braking system (ABS) is activated, the energy recovery system is also monitored. When both the ABS and energy recovery systems are detected to be activated, the energy recovery system is kept active, and drag torque is acquired.

[0107] In some optional embodiments, increasing the actual output torque of the drive motor based on the drag torque to make the actual output torque of the drive motor zero includes:

[0108] Based on the preset first correspondence 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 control drive motor will output increased compensation torque during the period when the anti-lock braking function is activated.

[0110] In some optional embodiments, steps S204-S206 can also be used to compensate and reset the output of the drive motor, including the following methods:

[0111] Based on the preset first correspondence between the drag torque and the target output torque, the target output torque corresponding to the drag torque is determined.

[0112] Dragging torque can be negative, meaning that the direction of dragging torque is opposite to the direction of the car's forward movement.

[0113] It is understandable that the preset first correspondence between the drag torque and the target output torque can be obtained and stored through pre-calibration. 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, based on the preset second correspondence between the target output torque and the adjustment step size, the adjustment step size corresponding to the target output torque is determined.

[0115] It is understandable that the second pre-defined correspondence between the target output torque and the adjustment step size can be pre-calibrated and stored. In the second correspondence, the target output torque and the adjustment step size can be positively correlated, that is, the larger the target output torque, the larger the adjustment step size, and the smaller the target output torque, the smaller the adjustment step size, so as to ensure 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 anti-lock braking function activation period, thereby clearing the torque output of the drive motor to zero.

[0117] Using the drive motor control method provided in this application, when the vehicle is coasting at a certain speed and the anti-lock braking function is detected to be activated, 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, thus avoiding the drag torque of the wheel from affecting the anti-lock braking function.

[0118] This application also provides a drive motor control device, such as... Figure 4 As shown, the device includes:

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

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

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

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

[0123] Based on the preset first correspondence between the drag torque and the target output torque, the target output torque corresponding to the drag torque is determined.

[0124] Based on the preset second correspondence between the target output torque and the adjustment step size, the adjustment step size corresponding to the target output torque is determined.

[0125] Increase the actual output torque of the drive motor by adjusting the 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 brake pedal opening are both non-zero and the accelerator pedal opening is zero.

[0127] The acquisition module 402 is also configured to acquire drag torque when the anti-lock braking function is detected to be activated.

[0128] The control module 403 is also configured to increase the actual output torque of the drive motor based on the drag torque, so that the actual output torque of the drive motor is zero.

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

[0130] Based on the preset first correspondence 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 control drive motor will output increased compensation torque during the period when the anti-lock braking function is activated.

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

[0133] The acquisition module 402 is also configured to acquire drag torque when the energy recovery function, traction control system and vehicle dynamic control system are detected to be active.

[0134] The control module 403 is also configured to keep the energy recovery function active and increase the actual output torque of the drive motor according to the drag torque until the wheels no longer slip.

[0135] Using the drive motor control device provided in this application, when the vehicle is coasting at a certain speed and the driver does not press the accelerator or brake pedal, the motor performs reverse charging and generates a drag torque at the wheel. At this time, the actual output torque of the motor is negative, resulting in drag torque. In this case, the monitoring module 401 monitors whether the wheel speed decreases too quickly due to low road surface adhesion and large drag torque at the wheel, thus causing slippage. 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, compensating 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 surface adhesion is low.

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

[0137] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only.

[0138] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

[0139] The above description is only for the purpose of enabling those skilled in the art to understand the technical solution of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for controlling a drive motor, characterized in that, The method includes: 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, monitor whether the wheels are slipping; When wheel slippage is detected, the drag torque of the drive motor is obtained; The actual output torque of the drive motor is increased based on the drag torque until the wheels no longer slip. The method further includes: When the vehicle speed and the brake pedal opening are both non-zero, and the accelerator pedal opening is zero, monitor whether the anti-lock braking function is activated. When the anti-lock braking function is detected to be activated, the drag torque is acquired; The actual output torque of the drive motor is increased based on the drag torque, so that the actual output torque of the drive motor is zero. The step of increasing the actual output torque of the drive motor based on the drag torque, so that the actual output torque of the drive motor is zero, includes: Based on a preset first correspondence 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. Based on a preset second correspondence between the target output torque and the adjustment step size, the adjustment step size corresponding to the target output torque is determined, and the drive motor is controlled to output an increased compensation torque according to the adjustment step size during the anti-lock braking function activation period.

2. The drive motor control method according to claim 1, characterized in that, The step of increasing the actual output torque of the drive motor according to the drag torque until the wheel no longer slips includes: The target output torque corresponding to the drag torque is determined based on a preset first correspondence between the drag torque and the target output torque. Based on a preset second correspondence between the target output torque and the adjustment step size, the adjustment step size corresponding to the target output torque is determined; Increase the actual output torque of the drive motor by adjusting the step size until the wheels no longer slip.

3. The drive motor control method according to claim 1, characterized in that, The method further includes: When wheel slippage is detected, the activation status of the energy recovery function, traction control system and vehicle dynamic control system is monitored. When the energy recovery function, the traction control system, and the vehicle dynamic control system are detected to be active, the drag torque is acquired. Keep the energy recovery function active and increase the actual output torque of the drive motor according to the drag torque until the wheels no longer slip.

4. A drive motor control device, characterized in that, The device includes: The monitoring module is configured to monitor vehicle speed, accelerator pedal opening, and brake pedal opening; 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. The acquisition module is configured to acquire the drag torque of the drive motor when wheel slippage is detected. The control module is configured to increase the actual output torque of the drive motor based on the drag torque until the wheels no longer slip. The monitoring module is also 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. 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 based on the drag torque, so that the actual output torque of the drive motor is zero. The control module is also configured to: Based on a preset first correspondence 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. Based on a preset second correspondence between the target output torque and the adjustment step size, the adjustment step size corresponding to the target output torque is determined, and the drive motor is controlled to output an increased compensation torque according to the adjustment step size during the anti-lock braking function activation period.

5. The drive motor control device according to claim 4, characterized in that, The control module is also configured to: The target output torque corresponding to the drag torque is determined based on a preset first correspondence between the drag torque and the target output torque. Based on a preset second correspondence between the target output torque and the adjustment step size, the adjustment step size corresponding to the target output torque is determined; Increase the actual output torque of the drive motor by adjusting the step size until the wheels no longer slip.

6. The drive motor control device according to claim 4, characterized in that, The monitoring module is also configured to: monitor the activation status of the energy recovery function, traction control system and vehicle dynamic control system when wheel slippage is detected; The acquisition module is further configured to acquire the drag torque when the energy recovery function, the traction control system, and the vehicle dynamic control system are detected to be in an active state. The control module is also configured to: keep the energy recovery function active 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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