Motor control method and device, electronic equipment and vehicle

Abstract

The invention relates to a motor control method and device, electronic equipment and a vehicle. The motor control method comprises the steps that the motor rotating speed of the vehicle is collected, and the torque compensation amount is determined based on the motor rotating speed; and a driving mode and / or an accelerator pedal opening signal are / is collected, the torque compensation amount is corrected based on the driving mode and / or the accelerator pedal opening signal, and motor control is conducted based on the corrected torque compensation amount. According to the embodiment of the invention, the motor is controlled in a manner of correcting the torque compensation amount through the driving mode and / or the accelerator pedal opening signal, so that the torque compensation of the motor can solve the problem of vehicle shaking in daily vehicle operation; and the torque of the motor can be dynamically adjusted in the intense mode so as to ensure the power output in the intense mode.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle technology, and in particular to a motor control method, device, electronic equipment and vehicle. Background Art

[0002] With the rapid development of automobiles, users' demands for automobiles are becoming increasingly diversified and improving. Safety performance, as the primary consideration when buying a car, always occupies a pivotal position. At the same time, comfort has also become an indispensable part of modern automobiles. For example, by sensing road conditions and vehicle vibration in real time to reduce vehicle shock, the user's driving experience and comfort can be improved. On this basis, users' pursuit of driving pleasure is becoming increasingly prominent. They hope that the vehicle is not only a means of transportation, but also can bring a fun driving experience and precise and flexible control. In other words, while pursuing safety and comfort, users also have corresponding demands for driving pleasure.

[0003] Therefore, how to balance the relationship between safety, comfort and driving pleasure is a technical problem that needs to be solved urgently. Summary of the invention

[0004] In order to solve the above technical problems, the present disclosure provides a motor control method, device, electronic equipment and vehicle.

[0005] A first aspect of an embodiment of the present disclosure provides a motor control method, including:

[0006] Collecting the motor speed of the vehicle, and determining the torque compensation amount based on the motor speed;

[0007] The driving mode and / or the accelerator pedal opening signal are collected, the torque compensation amount is corrected based on the driving mode and / or the accelerator pedal opening signal, and the motor control is performed based on the corrected torque compensation amount.

[0008] In the disclosed embodiment, the stability of the motor speed is closely related to the stability of the vehicle during driving. When the motor speed is not stable, it will affect the stability of the vehicle during driving, thereby causing poor comfort for the driver and passengers. This solution determines the value of torque compensation for the motor by calculating the torque compensation amount, and compensates the torque of the motor by this value, thereby offsetting the fluctuation of the speed, improving the stability of the motor speed, and thereby improving the comfort of the driver and passengers. However, when the torque compensation amount does not match the driving mode and / or accelerator pedal opening of the vehicle, there will be a situation where the power output is limited. This solution can determine the torque compensation amount based on the driving mode and / or accelerator pedal opening of the vehicle. At the same time, it can dynamically adjust the torque compensation amount under different driving modes and / or accelerator pedal openings, thereby ensuring that in the motor control process, not only can the problem of vehicle shaking in daily vehicle operation be solved, improving the user's comfort, but also the motor torque can be dynamically adjusted in the intense mode to ensure the power output in the intense mode.

[0009] In some embodiments of the present disclosure, collecting the motor speed of the vehicle and determining the torque compensation amount based on the motor speed include:

[0010] determining a motor speed fluctuation amount based on the motor speed;

[0011] The torque compensation is calculated based on the motor speed fluctuation to obtain the torque compensation amount.

[0012] In the disclosed embodiment, the fluctuation of motor speed is currently the key factor causing vehicle jitter. Therefore, in this scheme, the motor speed fluctuation amount is determined, and the motor torque compensation amount is calculated based on the motor speed fluctuation amount, so that the obtained torque compensation amount is more accurate, thereby improving the accuracy of motor control and making the motor run more smoothly.

[0013] In some embodiments of the present disclosure, the driving mode and / or the accelerator pedal opening signal are collected, the torque compensation amount is corrected based on the driving mode and / or the accelerator pedal opening signal, and the motor control is performed based on the corrected torque compensation amount, including:

[0014] When the driving mode is the first driving mode, determining the accelerator pedal opening corresponding to the accelerator pedal opening signal;

[0015] The accelerator pedal opening is compared with a preset opening threshold, and the torque compensation amount is corrected based on the comparison result.

[0016] In the disclosed embodiment, the intention of the driver can be identified through the driving mode to determine the driver's demand for power output. In the first driving mode, the accelerator pedal opening is a direct reflection of the power output demand. Therefore, in the first driving mode, the power output required by the driver is determined in combination with the size of the accelerator pedal opening, and the torque compensation amount is corrected according to the power output size. It is ensured that the corrected torque compensation amount can meet the different needs of the user for different power outputs in the first driving mode, thereby improving the user experience.

[0017] In some embodiments of the present disclosure, the preset opening threshold includes a first preset opening value and a second preset opening value, wherein the first preset opening value is smaller than the second preset opening value;

[0018] The accelerator pedal opening is compared with a preset opening threshold, and the torque compensation amount is corrected based on the comparison result, including:

[0019] Comparing the accelerator pedal opening with the first preset opening value and the second preset opening value respectively to obtain a comparison result;

[0020] When the comparison result shows that the accelerator pedal opening is greater than the first preset opening value and less than the second preset opening value, determining a first maximum intervention torque value corresponding to the accelerator pedal opening;

[0021] The first maximum intervention torque value is compared with the torque compensation amount, and when the torque compensation amount is greater than or equal to the first maximum intervention torque value, the torque compensation amount is corrected to the first maximum intervention torque value.

[0022] In the disclosed embodiment, in the first driving mode, and when the accelerator pedal opening is between the first preset opening value and the second opening value, the maximum intervention torque value is dynamically adjusted according to the size of the accelerator pedal opening, and then the first maximum intervention torque value matching the size of the accelerator pedal opening is determined, and then the torque compensation amount is corrected according to the first maximum intervention torque value to ensure that the corrected torque compensation amount can be more adapted to the different power output requirements of the driver, thereby improving the user experience.

[0023] In some embodiments of the present disclosure, the accelerator pedal opening is compared with a preset opening threshold, and the torque compensation amount is corrected based on the comparison result, including:

[0024] When the comparison result shows that the accelerator pedal opening is less than or equal to the first preset opening value, determining a second maximum intervention torque value corresponding to the accelerator pedal opening, comparing the second maximum intervention torque value with the torque compensation amount, and when the torque compensation amount is greater than or equal to the second maximum intervention torque value, correcting the torque compensation amount to the second maximum intervention torque value;

[0025] When the comparison result is that the accelerator pedal opening is greater than or equal to the second preset opening value, the torque compensation amount is corrected to zero.

[0026] In the disclosed embodiment, different torque compensation correction strategies can be adopted according to different accelerator pedal openings. When the accelerator pedal opening is less than or equal to the first preset opening value, the torque compensation amount is corrected by a fixed maximum intervention torque value, and there is no need to determine the maximum intervention torque value at all times, which reduces the process calculation amount and improves the efficiency of torque compensation correction; when the accelerator pedal opening is greater than or equal to the second preset opening value, the torque compensation amount is corrected to zero to ensure the maximum power output. At the same time, the dynamic exit of the active adjustment damping control function can be achieved without manual operation by the driver, which improves the flexibility and convenience of motor control.

[0027] In some embodiments of the present disclosure, the first maximum intervention torque value is inversely proportional to the accelerator pedal opening; the first maximum intervention torque value is smaller than the second maximum intervention torque value.

[0028] In the disclosed embodiment, in the first driving mode, the maximum intervention torque value can be gradually reduced as the accelerator pedal degree increases, thereby achieving an effect of dynamically adjusting the maximum intervention torque value with the size of the accelerator pedal opening. In the process of dynamically adjusting the maximum intervention torque value, the adaptability between the maximum intervention torque value and the accelerator pedal opening is further improved, thereby further improving the accuracy of motor control.

[0029] In some embodiments of the present disclosure, the driving mode and / or the accelerator pedal opening signal are collected, the torque compensation amount is corrected based on the driving mode and / or the accelerator pedal opening signal, and the motor control is performed based on the corrected torque compensation amount, including:

[0030] When the driving mode is the second driving mode, determining a third maximum intervention torque value corresponding to the second driving mode;

[0031] The third maximum intervention torque value is compared with the torque compensation amount, and when the torque compensation amount is greater than or equal to the third maximum intervention torque value, the torque compensation amount is corrected to the third maximum intervention torque value.

[0032] In the disclosed embodiment, when the driving mode is a second driving mode different from the first driving mode, by identifying the second driving mode, it is determined that the driver has a higher demand for comfort. Therefore, the maximum intervention torque value corresponding to the driving mode is directly determined, and the maximum intervention torque value is determined as a fixed maximum intervention torque value in this driving mode without considering the influence of the accelerator pedal opening, thereby reducing the complexity of determining the maximum intervention torque value, thereby improving the efficiency of correcting the torque compensation amount. At the same time, the torque compensation amount is corrected by the maximum intervention torque value, and then the motor is controlled, which solves the problem of vehicle shaking in the second driving mode, improves user comfort, and meets the different needs of the driver in different driving modes.

[0033] A second aspect of an embodiment of the present disclosure provides a motor control device, comprising:

[0034] A torque compensation amount determination module, used to collect the motor speed of the vehicle and determine the torque compensation amount based on the motor speed;

[0035] The motor control module is used to collect driving mode and / or accelerator pedal opening signals, correct the torque compensation amount based on the driving mode and / or accelerator pedal opening signals, and control the motor based on the corrected torque compensation amount.

[0036] A third aspect of the embodiments of the present disclosure provides an electronic device, including:

[0037] processor;

[0038] A memory for storing executable instructions;

[0039] The processor is used to read executable instructions from the memory and execute the executable instructions to implement the motor control method provided in the first aspect.

[0040] A fourth aspect of an embodiment of the present disclosure provides a vehicle, which includes the electronic device provided by the third aspect.

[0041] A fifth aspect of an embodiment of the present disclosure provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the processor implements the motor control method provided by the first aspect.

[0042] A sixth aspect of an embodiment of the present disclosure provides a computer program product, which includes a computer program or instructions, and when the computer program or instructions are executed by a processor, the motor control method as described in the first aspect above is implemented.

[0043] Compared with the prior art, the technical solution provided by the embodiments of the present disclosure has the following advantages:

[0044] The motor control method, device, electronic device and vehicle provided by the embodiments of the present disclosure can collect the motor speed of the vehicle, and after obtaining the motor speed, determine the torque compensation amount based on the motor speed; collect the driving mode and / or throttle pedal opening signal, correct the torque compensation amount based on the driving mode and / or throttle pedal opening signal, and then control the motor based on the corrected torque compensation amount. Thus, the value of torque compensation for the motor can be determined by calculating the torque compensation amount, and the torque of the motor can be compensated by this value, so as to offset the fluctuation of the speed, improve the stability of the motor speed, and thus improve the comfort of the driver and passengers. At the same time, based on the driving mode and / or throttle pedal opening of the vehicle, the torque compensation amount is determined, and the torque compensation amount can be dynamically adjusted under different driving modes and / or throttle pedal openings, thereby ensuring that in the process of motor control, not only the problem of vehicle shaking in daily vehicle operation can be solved, and the user's comfort can be improved, but also the motor torque can be dynamically adjusted in the intense mode to ensure the power output in the intense mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0046] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0047] Figure 1 is a flow chart of a motor control method provided by an embodiment of the present disclosure;

[0048] Figure 2 is a flow chart of a method for correcting a torque compensation amount in a first driving mode provided by an embodiment of the present disclosure;

[0049] Figure 3 is a flow chart of another motor control method provided by an embodiment of the present disclosure;

[0050] Figure 4 is a structural schematic diagram of a motor control device provided by an embodiment of the present disclosure;

[0051] Figure 5 It is a structural schematic diagram of an electronic device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0052] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0053] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0054] It should be understood that the various steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0055] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0056] It should be noted that the modifications of "one" and "plurality" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0057] Generally speaking, with the rapid development of automobiles, users' demands for automobiles are becoming increasingly diversified and improving. Safety performance, as the primary consideration when buying a car, always occupies a pivotal position. At the same time, comfort has also become an indispensable part of modern automobiles. For example, by sensing road conditions and vehicle vibration in real time to reduce vehicle shock, the user's driving experience and comfort can be improved. On this basis, users' pursuit of driving pleasure is becoming increasingly prominent. They hope that the vehicle is not only a means of transportation, but also can bring a fun driving experience and precise and flexible control. In other words, while pursuing safety and comfort, users also have corresponding demands for driving pleasure.

[0058] Therefore, how to balance the relationship between safety, comfort and driving pleasure is a technical problem that needs to be solved urgently. In view of this problem, an embodiment of the present disclosure provides a motor control method, which is introduced below in conjunction with a specific embodiment.

[0059] Figure 1 It is a flow chart of a motor control method provided in an embodiment of the present disclosure. The method can be executed by a motor control device. The motor control device can be implemented in software and / or hardware. The motor control device can be configured in an electronic device, such as a server or a terminal, wherein the terminal specifically includes a vehicle-mounted terminal, a mobile phone, a computer or a tablet computer, etc.

[0060] like Figure 1 As shown, the motor control method provided in this embodiment and the active control dynamic adjustment method provided in this embodiment can be applied to pure electric vehicles or hybrid electric vehicles, and specifically include the following steps:

[0061] S110 , collecting the motor speed of the vehicle, and determining the torque compensation amount based on the motor speed.

[0062] In the disclosed embodiment, the electronic device can collect the motor speed of the vehicle based on a sensor, wherein the sensor can be any sensor for detecting the motor speed signal; the motor speed can also be obtained by reading the controller data through the speed detection function inside the motor controller.

[0063] Among them, the full name of the motor controller in English is Microcontroller Unit, abbreviated as MCU. It is a device used to control the energy transmission between the power supply and the drive motor. It consists of a control signal interface circuit, a drive motor control circuit and a drive circuit.

[0064] Specifically, the electronic device can obtain the motor speed of the vehicle when the preset conditions are met, determine the motor speed fluctuation amount based on the motor speed, and then determine the torque compensation amount according to the motor speed fluctuation amount and the preset torque compensation rule. The preset conditions can be any one or more of the vehicle starting and receiving the user's motor control command.

[0065] S120, collecting a driving mode and / or an accelerator pedal opening signal, correcting a torque compensation amount based on the driving mode and / or the accelerator pedal opening signal, and controlling the motor based on the corrected torque compensation amount.

[0066] In the disclosed embodiment, during vehicle driving, the vehicle system sets and displays different driving modes according to different driving requirements and environmental conditions.

[0067] The driving mode of the vehicle may include a first driving mode and a second driving mode.

[0068] The first driving mode may be a driving mode that aims to improve driving experience, and enables the vehicle to obtain stronger power output and faster acceleration performance by increasing engine output power, delaying transmission shifting, etc. For example, the first driving mode may include modes such as sport, sport+, and race.

[0069] The second driving mode may be a driving mode that is intended to achieve an optimal balance of fuel economy, quietness, and power performance. For example, the second driving mode may include an economy mode, a comfort mode, and the like.

[0070] In the embodiment of the present disclosure, the electronic device may obtain the driving mode of the vehicle based on the driver's driving mode selection operation, gear selector operation, etc.

[0071] In the disclosed embodiment, the accelerator pedal opening signal of the vehicle is mainly used to control the fuel injection amount of the engine, thereby adjusting the power output of the vehicle. Specifically, when the driver steps on the accelerator pedal, the position sensor on the accelerator pedal detects the pedal opening, and converts this signal into an electrical signal and transmits it to the motor controller and / or the vehicle controller, thereby obtaining the accelerator pedal opening signal.

[0072] In some examples, the electronic device may store the accelerator pedal opening signal obtained based on the position sensor on the accelerator pedal in a preset database, obtain the vehicle's accelerator pedal opening signal from the preset database based on the vehicle's identification information, and then obtain the accelerator pedal opening signal.

[0073] In other examples, the electronic device may send an accelerator pedal opening signal acquisition request to a position sensor on the accelerator pedal, and receive an accelerator pedal opening signal generated by the position sensor on the accelerator pedal, thereby acquiring the accelerator pedal opening signal.

[0074] In some embodiments of the present disclosure, the electronic device may collect the driving mode, determine a correction strategy based on the driving mode to correct the torque compensation amount, and then perform motor control based on the corrected torque compensation amount.

[0075] In other embodiments of the present disclosure, the electronic device can collect the driving mode and the accelerator pedal opening signal, determine the correction strategy based on the driving mode and the accelerator pedal opening signal, correct the torque compensation amount, and then control the motor based on the corrected torque compensation amount.

[0076] In some other embodiments of the present disclosure, the electronic device may collect an accelerator pedal opening signal, determine a correction strategy based on the accelerator pedal opening signal, correct the torque compensation amount, and then control the motor based on the corrected torque compensation amount.

[0077] In the disclosed embodiment, the motor speed of the vehicle can be collected, and after the motor speed is obtained, the torque compensation amount is determined based on the motor speed; the driving mode and / or the accelerator pedal opening signal are collected, and the torque compensation amount is corrected based on the driving mode and / or the accelerator pedal opening signal, and then the motor control is performed based on the corrected torque compensation amount. Thus, the value of torque compensation for the motor can be determined by calculating the torque compensation amount, and the torque of the motor can be compensated by this value, so as to offset the fluctuation of the speed, improve the stability of the motor speed, and thus improve the comfort of the driver and passengers. At the same time, based on the driving mode and / or the accelerator pedal opening of the vehicle, the torque compensation amount is determined, and the torque compensation amount can be dynamically adjusted under different driving modes and / or accelerator pedal openings, thereby ensuring that in the process of motor control, not only the problem of vehicle shaking in daily vehicle operation can be solved, and the user's comfort can be improved, but also the motor torque can be dynamically adjusted in the intense mode to ensure the power output in the intense mode.

[0078] In the disclosed embodiment, the motor speed of the vehicle is collected, and the torque compensation amount is determined based on the motor speed, which may specifically include: determining the motor speed fluctuation amount based on the motor speed; performing torque compensation calculation based on the motor speed fluctuation amount to obtain the torque compensation amount.

[0079] In the disclosed embodiment, the motor speed fluctuation amount can be understood as the degree of fluctuation of the motor speed during operation, which is an important indicator for measuring the stability of motor operation.

[0080] In some embodiments of the present disclosure, the electronic device can obtain the motor speed at the accelerator pedal opening based on a sensor for detecting the motor speed signal, and compare the motor speed with the theoretical motor speed to calculate the motor speed fluctuation, thereby obtaining the motor speed fluctuation.

[0081] In some other embodiments of the present disclosure, the electronic device can obtain parameters related to the motor speed, such as vibration, magnetic field and other information, and then calculate the motor speed fluctuation amount based on the parameters related to the motor speed to obtain the motor speed fluctuation amount.

[0082] Furthermore, after obtaining the motor speed fluctuation amount, the electronic device inputs the motor speed fluctuation amount into a preset adaptive algorithm for calculation to obtain the torque compensation amount of active damping, that is, the torque compensation amount of the vehicle. Among them, the specific implementation method of calculating the torque compensation amount based on the preset adaptive algorithm is similar to the existing implementation method of calculating the torque compensation amount based on the adaptive algorithm, and will not be repeated here.

[0083] In the disclosed embodiment, the motor speed fluctuation amount can be determined, and the motor torque compensation amount can be calculated based on the motor speed fluctuation amount, so that the obtained torque compensation amount is more accurate, thereby improving the accuracy of motor control and making the motor run more smoothly.

[0084] In an embodiment of the present disclosure, a driving mode and / or an accelerator pedal opening signal is collected, the torque compensation amount is corrected based on the driving mode and / or the accelerator pedal opening signal, and the motor control is performed based on the corrected torque compensation amount. Specifically, it may include: when the driving mode is the first driving mode, determining the accelerator pedal opening corresponding to the accelerator pedal opening signal; comparing the accelerator pedal opening with a preset opening threshold, and correcting the torque compensation amount based on the comparison result.

[0085] In the embodiment of the present disclosure, the preset opening threshold includes a first preset opening value and a second preset opening value, wherein the first preset opening value is smaller than the second preset opening value.

[0086] The first preset opening value and the second preset opening value can be understood as pre-calibrated thresholds for balancing the active shock absorption control function of the vehicle and the power output of the vehicle. Specifically, they can be calibrated or specified based on different vehicle models, different driving experiences or driving requirements, and based on the driving experience of the actual vehicle.

[0087] For example, the first preset opening value may be 60%, and the second preset opening value may be 80%.

[0088] Specifically, when the driving mode is the first driving mode, or when the driving mode is switched to the first driving mode, the electronic device can obtain an opening threshold value corresponding to the vehicle from a preset database based on the vehicle identification information, and simultaneously obtain the accelerator pedal opening, compare the accelerator pedal opening with the preset opening threshold value, obtain a comparison result, and perform correction processing on the torque compensation amount according to the comparison result.

[0089] In the disclosed embodiment, the intention of the driver can be identified through the driving mode to determine the driver's demand for power output. In the first driving mode, the accelerator pedal opening is a direct reflection of the power output demand. Therefore, in the first driving mode, the power output required by the driver is determined in combination with the size of the accelerator pedal opening, and the torque compensation amount is corrected according to the power output size. It is ensured that the corrected torque compensation amount can meet the different needs of the user for different power outputs in the first driving mode, thereby improving the user experience.

[0090] Figure 2 is a flow chart of a method for correcting torque compensation in a first driving mode provided by an embodiment of the present disclosure, such as Figure 2As shown, the accelerator pedal opening is compared with a preset opening threshold, and the torque compensation amount is corrected based on the comparison result, which may specifically include the following steps:

[0091] S210: Obtain a first preset opening value and a second preset opening value, and compare the accelerator pedal opening with the first preset opening value and the second preset opening value, respectively.

[0092] Specifically, after obtaining the accelerator pedal opening signal, the electronic device can obtain the vehicle's first preset opening value and second preset opening value from a preset database based on the vehicle's identification information, and compare the accelerator pedal opening corresponding to the accelerator pedal opening signal with the first preset opening value and the second preset opening value to obtain a comparison result.

[0093] Among them, when the comparison result is that the accelerator pedal opening corresponding to the accelerator pedal opening signal is greater than the first preset opening value and less than the second preset opening value, execute steps S220 to S230; when the comparison result is that the accelerator pedal opening corresponding to the accelerator pedal opening signal is less than or equal to the first preset opening value, execute step S240; when the comparison result is that the accelerator pedal opening corresponding to the accelerator pedal opening signal is greater than or equal to the second preset opening value, execute step S250.

[0094] S220: When the comparison result shows that the accelerator pedal opening is greater than the first preset opening value and less than the second preset opening value, determine a first maximum intervention torque value corresponding to the accelerator pedal opening.

[0095] In the disclosed embodiment, when the accelerator pedal opening is greater than the first preset opening value and less than the second preset opening value, it indicates that the driver needs to drive aggressively and has a greater demand for torque output. Therefore, the upper limit of the active damping compensation torque, i.e., the maximum intervention torque value, is reduced at this time.

[0096] Specifically, when the electronic device determines that the accelerator pedal opening corresponding to the accelerator pedal opening signal is greater than the first preset opening value and less than the second preset opening value, it obtains the maximum intervention torque value corresponding to the accelerator pedal opening based on the correspondence between the preset accelerator pedal opening and the maximum intervention torque value, and determines it as the first maximum intervention torque value.

[0097] S230: Correct the torque compensation amount based on the first maximum intervention torque value.

[0098] In the embodiment of the present disclosure, after determining the first maximum intervention torque value corresponding to the accelerator pedal opening, the electronic device corrects the torque compensation amount according to the first maximum intervention torque value and the corresponding correction strategy.

[0099] In the embodiment of the present disclosure, the torque compensation amount is corrected based on the first maximum intervention torque value, which may specifically include: comparing the torque compensation amount with the first maximum intervention torque value; when the torque compensation amount is greater than or equal to the first maximum intervention torque value, correcting the torque compensation amount to the first maximum intervention torque value, and performing motor control based on the first maximum intervention torque value; when the torque compensation amount is less than the first maximum intervention torque value, performing motor control based on the torque compensation amount.

[0100] In the disclosed embodiment, in the first driving mode, when the accelerator pedal opening is between the first preset opening value and the second preset opening value, the maximum intervention torque value can be dynamically adjusted according to the size of the accelerator pedal opening, and then the first maximum intervention torque value matching the size of the accelerator pedal opening is determined, and then the torque compensation amount is corrected according to the first maximum intervention torque value to ensure that the corrected torque compensation amount can be more adapted to the different power output requirements of the driver, thereby improving the user experience.

[0101] S240: When the comparison result shows that the accelerator pedal opening is less than or equal to the first preset opening value, determine a second maximum intervention torque value corresponding to the accelerator pedal opening, and correct the torque compensation amount based on the second maximum intervention torque value.

[0102] In the embodiment of the present disclosure, the accelerator pedal opening corresponding to the accelerator pedal opening signal being less than or equal to the first preset opening value can be understood as the driver's power output demand for the vehicle can be met during normal active shock absorption control.

[0103] Specifically, when the electronic device compares the accelerator pedal opening with a first preset opening value and the accelerator pedal opening is less than or equal to the first preset opening value, the electronic device determines a second maximum intervention torque value corresponding to the accelerator pedal opening being less than the first preset opening value based on the correspondence between the preset accelerator pedal opening and the maximum intervention torque value, and compares the torque compensation amount with the second maximum intervention torque value; when the torque compensation amount is greater than or equal to the second maximum intervention torque value, the torque compensation amount is corrected to the second maximum intervention torque value, and the motor control is performed based on the second maximum intervention torque value; when the torque compensation amount is less than the second maximum intervention torque value, the motor control is performed based on the torque compensation amount.

[0104] S250: When the comparison result shows that the accelerator pedal opening is greater than or equal to the second preset opening value, the torque compensation amount is corrected to zero.

[0105] In the disclosed embodiment, correcting the torque compensation amount to zero can be understood as not performing torque compensation, that is, the active shock absorption control function is exited, active shock absorption is not intervened, and full torque output is achieved, so as to achieve sufficient power and meet the driver's performance requirements.

[0106] Specifically, when the electronic device determines that the accelerator pedal opening corresponding to the accelerator pedal opening signal is greater than or equal to the second preset opening value, it corrects the torque compensation amount to zero and directly controls the vehicle's active shock absorption control function to exit. As a result, when the driver pursues ultimate power and the ultimate power demand is greater than the comfort demand, full torque output can be achieved without the driver's operation, thereby meeting the driver's demand for extreme performance of the vehicle.

[0107] In the disclosed embodiment, different torque compensation correction strategies can be adopted according to different accelerator pedal openings. When the accelerator pedal opening is less than or equal to the first preset opening value, the torque compensation amount is corrected by a fixed maximum intervention torque value, and there is no need to determine the maximum intervention torque value at all times, which reduces the process calculation amount and improves the efficiency of torque compensation correction; when the accelerator pedal opening is greater than or equal to the second preset opening value, the torque compensation amount is corrected to zero to ensure the maximum power output. At the same time, the dynamic exit of the active adjustment damping control function can be achieved without manual operation by the driver, which improves the flexibility and convenience of motor control.

[0108] In the disclosed embodiment, when it is determined that the driving mode of the vehicle is the first driving mode, or when the driving mode of the vehicle is switched to the first driving mode, an accelerator pedal opening signal of the vehicle can be obtained, and a first preset opening value and a second preset opening value for balancing the active shock absorption control function of the vehicle and the power output of the vehicle can be obtained, and the accelerator pedal opening corresponding to the accelerator pedal opening signal can be compared with the first preset opening value and the second preset opening value. When the accelerator pedal opening corresponding to the accelerator pedal opening signal is greater than the first preset opening value and less than the second preset opening value, the first maximum intervention torque value corresponding to the accelerator pedal opening is determined, and the torque compensation amount is corrected based on the first maximum intervention torque value, so as to control the motor based on the corrected torque compensation amount; when the accelerator pedal opening corresponding to the accelerator pedal opening signal is less than or equal to the first preset opening value, the second maximum intervention torque value corresponding to the accelerator pedal opening is determined, and the torque compensation amount is corrected based on the second maximum intervention torque value; when the accelerator pedal opening corresponding to the accelerator pedal opening signal is greater than or equal to the second preset opening value, the torque compensation amount is corrected to zero, and the active shock absorption control function of the vehicle is directly controlled to exit. In this way, when the driving mode of the vehicle is the first driving mode, the driver's demand for the vehicle power output can be determined according to the size of the accelerator pedal opening signal of the vehicle, and then the active shock absorption control function of the vehicle can be adjusted. It is able to dynamically correct the vehicle's torque compensation amount for motor control without the need for driver involvement, realize dynamic adjustment and dynamic exit control of the vehicle's active shock absorption control function, improve the flexibility, convenience and accuracy of motor control, and enhance user experience.

[0109] In the disclosed embodiment, the first maximum intervention torque value is inversely proportional to the accelerator pedal opening; the first maximum intervention torque value is smaller than the second maximum intervention torque value.

[0110] Specifically, in the first driving mode, a larger accelerator pedal opening indicates a greater demand for power output by the driver. Therefore, when the accelerator pedal opening corresponding to the accelerator pedal opening signal is greater than a first preset opening value and less than a second preset opening value, the first maximum intervention torque value gradually decreases as the accelerator pedal opening increases, thereby ensuring that the power output meets the driver's needs.

[0111] In the disclosed embodiment, in the first driving mode, the maximum intervention torque value can be gradually reduced as the accelerator pedal opening increases, thereby achieving the effect of dynamically adjusting the maximum intervention torque value with the size of the accelerator pedal opening. In the process of dynamically adjusting the maximum intervention torque value, the adaptability between the maximum intervention torque value and the accelerator pedal opening is further improved.

[0112] In the disclosed embodiment, the driving mode and / or throttle pedal opening signal is collected, the torque compensation amount is corrected based on the driving mode and / or throttle pedal opening signal, and the motor control is performed based on the corrected torque compensation amount. Specifically, it may also include: when the driving mode is the second driving mode, determining the third maximum intervention torque value corresponding to the second driving mode; comparing the third maximum intervention torque value with the torque compensation amount, and when the torque compensation amount is greater than or equal to the third maximum intervention torque value, correcting the torque compensation amount to the third maximum intervention torque value.

[0113] In the embodiment of the present disclosure, the electronic device may obtain a maximum intervention torque value corresponding to the vehicle in the first driving mode based on the identification information of the vehicle, and determine it as the third maximum intervention torque value.

[0114] Specifically, when the electronic device determines that the driving mode is the second driving mode, or the driving mode of the vehicle is switched to the second driving mode, it determines a third maximum intervention torque value corresponding to the second driving mode, compares the third maximum intervention torque value with the torque compensation amount, and when the torque compensation amount is greater than or equal to the third maximum intervention torque value, corrects the torque compensation amount to the third maximum intervention torque value, and performs motor control based on the third maximum intervention torque value; when the torque compensation amount is less than the third maximum intervention torque value, the motor control is performed based on the torque compensation amount.

[0115] In the disclosed embodiment, when the driving mode is a second driving mode different from the first driving mode, by identifying the second driving mode, it is determined that the driver has a higher demand for comfort. Therefore, the maximum intervention torque value corresponding to the driving mode is directly determined, and the maximum intervention torque value is determined as a fixed maximum intervention torque value in this driving mode without considering the influence of the accelerator pedal opening, thereby reducing the complexity of determining the maximum intervention torque value, thereby improving the efficiency of correcting the torque compensation amount. At the same time, the torque compensation amount is corrected by the maximum intervention torque value, and then the motor is controlled, which solves the problem of vehicle shaking in the second driving mode, improves user comfort, meets the different needs of the driver in different driving modes, and improves the user experience.

[0116] Figure 3 FIG. 1 is a flow chart of another motor control method provided by an embodiment of the present disclosure. Figure 3 As shown, the motor control method may specifically include the following steps:

[0117] S310: Collect the motor speed of the vehicle, and determine the torque compensation amount based on the motor speed.

[0118] In the embodiment of the present disclosure, the specific implementation of step S310 is similar to the specific implementation of step S110 in the above embodiment of the present disclosure, and will not be repeated here.

[0119] S320: Collect the driving mode of the vehicle, and / or determine whether the driving mode of the vehicle is switched.

[0120] In the disclosed embodiment, the specific implementation of the electronic device collecting the driving mode of the vehicle is similar to the specific implementation of collecting the driving mode of the vehicle in step S120 of the above embodiment of the present disclosure, and will not be repeated here.

[0121] The electronic device may compare the driving modes collected during adjacent collection times to determine whether the driving mode of the vehicle has been switched.

[0122] In the embodiment of the present disclosure, when it is determined that the driving mode of the vehicle is the first driving mode, and / or when it is determined that the driving mode of the vehicle is switched and switched to the first driving mode, steps S330 to S350 are executed; when it is determined that the driving mode of the vehicle is the second driving mode, and / or when it is determined that the driving mode of the vehicle is switched and switched to the second driving mode, steps S360 to S370 are executed.

[0123] S330: When it is determined that the driving mode of the vehicle is the first driving mode, or when it is determined that the driving mode of the vehicle is switched and switched to the first driving mode, an accelerator pedal opening signal is collected.

[0124] S340, obtaining a first preset opening value and a second preset opening value, and comparing the accelerator pedal opening corresponding to the accelerator pedal opening signal with the first preset opening value and the second preset opening value.

[0125] It should be noted that the specific implementation of step S340 is similar to the specific implementation of step S210 in the above embodiment of the present disclosure, and will not be repeated here.

[0126] S350, determining different torque compensation correction strategies based on the comparison result, correcting the torque compensation based on the different torque compensation correction strategies, and controlling the motor based on the corrected torque compensation.

[0127] In the disclosed embodiment, different torque compensation correction strategies may be pre-set strategies for correcting the torque compensation of the vehicle based on different driving modes and different accelerator pedal openings under the same driving mode.

[0128] Specifically, when the accelerator pedal opening corresponding to the accelerator pedal opening signal is greater than a first preset opening value and less than a second preset opening value, a first maximum intervention torque value corresponding to the accelerator pedal opening is determined, and the torque compensation amount is corrected based on the first maximum intervention torque value; when the accelerator pedal opening corresponding to the accelerator pedal opening signal is less than or equal to the first preset opening value, a second maximum intervention torque value corresponding to the accelerator pedal opening is determined, and the torque compensation amount is corrected based on the second maximum intervention torque value; when the accelerator pedal opening corresponding to the accelerator pedal opening signal is greater than or equal to the second preset opening value, the torque compensation amount is corrected to zero, and the active shock absorption control function of the vehicle is controlled to exit.

[0129] S360: When it is determined that the driving mode of the vehicle is the second driving mode, or when it is determined that the driving mode of the vehicle is switched and switched to the second driving mode, obtain a third maximum intervention torque value corresponding to the vehicle in the second driving mode.

[0130] In the embodiment of the present disclosure, the electronic device may obtain a maximum intervention torque value corresponding to the vehicle in the first driving mode based on the identification information of the vehicle, and determine it as the third maximum intervention torque value.

[0131] S370: Correct the torque compensation amount based on the third maximum intervention torque value, and control the motor based on the corrected torque compensation amount.

[0132] In the disclosed embodiment, after obtaining the third maximum intervention torque value, the electronic device compares the third maximum intervention torque value with the torque compensation amount. When the torque compensation amount is greater than or equal to the third maximum intervention torque value, the torque compensation amount is corrected to the third maximum intervention torque value, and the motor control is performed based on the third maximum intervention torque value; when the torque compensation amount is less than the third maximum intervention torque value, the motor control is performed based on the torque compensation amount. In this way, not only can the problem of vehicle shaking in the second driving mode be solved, and the user's comfort is improved, but also the different needs of the driver in different driving modes can be met, and the user experience is improved.

[0133] In the disclosed embodiment, the driving mode of the vehicle can be identified by collecting the driving mode of the vehicle. When the driving mode is determined to be the first driving mode, or the driving mode of the vehicle is switched and switched to the first driving mode, the driver's demand for the vehicle power output is determined based on the accelerator pedal opening signal of the vehicle, the maximum intervention torque value is determined according to the driver's demand for the vehicle power output, the torque compensation amount is corrected according to the maximum intervention torque value, and the motor control is performed based on the corrected torque compensation amount. The torque compensation amount can be dynamically corrected without the driver's participation. When the driving mode is the second driving mode, or when it is determined that the driving mode of the vehicle is switched and switched to the second driving mode, the torque compensation amount is corrected based on the maximum intervention torque value in the second driving mode, and then the motor control is performed based on the corrected torque compensation amount, ensuring the comfort of the user. Therefore, different correction strategies can be used to correct the torque compensation amount in different driving modes, which improves the accuracy and flexibility of motor control and improves user experience.

[0134] In the embodiment of the present disclosure, the electronic device may also receive a motor control instruction sent by the whole machine controller, and perform motor control according to the motor control instruction.

[0135] In the disclosed embodiment, the whole machine controller can be understood as a powertrain controller, which can be used to collect accelerator pedal signals, brake pedal signals and other component signals, and after making response judgments based on the collected signals, control the actions of the lower-level component controllers to achieve vehicle driving, braking, energy recovery, etc.

[0136] Specifically, the whole machine controller can obtain the vehicle's motor speed, driving mode, and accelerator pedal opening information; determine the target maximum intervention torque value based on the acquired motor speed, driving mode, and accelerator pedal opening information, and / or determine whether to exit the active shock absorption control function; generate a motor control instruction based on the target maximum intervention torque value and whether to exit the active shock absorption control function; send the motor control instruction to the electronic device; after receiving the motor control instruction, the electronic device executes the motor control instruction to perform motor control.

[0137] Therefore, the motor control can be performed through the motor control instructions sent by the whole machine controller, thereby realizing dynamic control of the motor and improving the user experience.

[0138] Figure 4 It is a structural schematic diagram of a motor control device provided in an embodiment of the present disclosure.

[0139] In the embodiments of the present disclosure, the motor control device can be arranged in an electronic device, and is understood as a part of the functional modules in the above electronic device. Specifically, the electronic device can be a server or a terminal, wherein the terminal specifically includes a vehicle-mounted terminal, a mobile phone, a computer or a tablet computer, etc., and can also be any device capable of processing the motor control method, which is not limited here.

[0140] like Figure 4 As shown, the motor control device 400 may include a torque compensation amount determination module 410 and a motor control module 420 .

[0141] The torque compensation amount determination module 410 may be used to collect the motor speed of the vehicle and determine the torque compensation amount based on the motor speed.

[0142] The motor control module 420 may be used to collect a driving mode and / or an accelerator pedal opening signal, correct a torque compensation amount based on the driving mode and / or the accelerator pedal opening signal, and perform motor control based on the corrected torque compensation amount.

[0143] In the disclosed embodiment, the motor speed of the vehicle can be collected, and after the motor speed is obtained, the torque compensation amount is determined based on the motor speed; the driving mode and / or the accelerator pedal opening signal are collected, and the torque compensation amount is corrected based on the driving mode and / or the accelerator pedal opening signal, and then the motor control is performed based on the corrected torque compensation amount. Thus, the value of torque compensation for the motor can be determined by calculating the torque compensation amount, and the torque of the motor can be compensated by this value, so as to offset the fluctuation of the speed, improve the stability of the motor speed, and thus improve the comfort of the driver and passengers. At the same time, based on the driving mode and / or the accelerator pedal opening of the vehicle, the torque compensation amount is determined, and the torque compensation amount can be dynamically adjusted under different driving modes and / or accelerator pedal openings, thereby ensuring that in the process of motor control, not only the problem of vehicle shaking in daily vehicle operation can be solved, and the user's comfort can be improved, but also the motor torque can be dynamically adjusted in the intense mode to ensure the power output in the intense mode.

[0144] In some embodiments of the present disclosure, the torque compensation amount determination module 410 may be specifically used to determine the motor speed fluctuation amount based on the motor speed;

[0145] The torque compensation is calculated based on the motor speed fluctuation to obtain the torque compensation amount.

[0146] In some embodiments of the present disclosure, the motor control module 420 may be specifically configured to determine the accelerator pedal opening corresponding to the accelerator pedal opening signal when the driving mode is the first driving mode;

[0147] The accelerator pedal opening is compared with a preset opening threshold, and the torque compensation amount is corrected based on the comparison result.

[0148] In some embodiments of the present disclosure, the preset opening threshold includes a first preset opening value and a second preset opening value, wherein the first preset opening value is smaller than the second preset opening value.

[0149] The motor control module 420 can also be specifically used to compare the accelerator pedal opening with the first preset opening value and the second preset opening value respectively to obtain a comparison result;

[0150] When the comparison result shows that the accelerator pedal opening is greater than the first preset opening value and less than the second preset opening value, determining a first maximum intervention torque value corresponding to the accelerator pedal opening;

[0151] The torque compensation amount is corrected based on the first maximum intervention torque value.

[0152] In some embodiments of the present disclosure, the motor control module 420 may also be specifically configured to determine a second maximum intervention torque value corresponding to the accelerator pedal opening when the comparison result shows that the accelerator pedal opening is less than or equal to the first preset opening value, and to correct the torque compensation amount based on the second maximum intervention torque value;

[0153] When the comparison result is that the accelerator pedal opening is greater than or equal to the second preset opening value, the torque compensation amount is corrected to zero.

[0154] In some embodiments of the present disclosure, the first maximum intervention torque value is inversely proportional to the accelerator pedal opening; the first maximum intervention torque value is smaller than the second maximum intervention torque value.

[0155] In some embodiments of the present disclosure, the motor control module 420 may also be specifically configured to determine a third maximum intervention torque value corresponding to the second driving mode when the driving mode is the second driving mode;

[0156] The third maximum intervention torque value is compared with the torque compensation amount, and when the torque compensation amount is greater than or equal to the third maximum intervention torque value, the torque compensation amount is corrected to the third maximum intervention torque value.

[0157] It should be noted that Figure 4The motor control device 400 shown can execute each step in the above method embodiment and realize each process and effect in the above method embodiment, which will not be described in detail here.

[0158] Figure 5 It is a structural schematic diagram of an electronic device provided by an embodiment of the present disclosure.

[0159] In the disclosed embodiment, Figure 5 The electronic device shown may be a server or a terminal, wherein the terminal specifically includes a mobile phone, a computer or a tablet computer, etc., which is not limited here.

[0160] like Figure 5 As shown, the electronic device may include a processor 510 and a memory 520 storing computer program instructions.

[0161] Specifically, the processor 510 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present disclosure.

[0162] The memory 520 may include a large capacity memory for information or instructions. By way of example and not limitation, the memory 520 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a tape, or a universal serial bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory 520 may include a removable or non-removable (or fixed) medium. Where appropriate, the memory 520 may be inside or outside the integrated gateway device. In a particular embodiment, the memory 520 is a non-volatile solid-state memory. In a particular embodiment, the memory 520 includes a read-only memory (ROM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (Electrically Erasable Programmable ROM, EEPROM), an electrically rewritable ROM (EAROM), or a flash memory, or a combination of two or more of these.

[0163] The processor 510 reads and executes the computer program instructions stored in the memory 520 to perform the steps of the motor control method provided in the embodiment of the present disclosure.

[0164] In one example, the electronic device may further include a transceiver 530 and a bus 540. Figure 5 As shown, the processor 510, the memory 520 and the transceiver 530 are connected via a bus 540 and communicate with each other.

[0165] The bus 540 includes hardware, software, or both. For example, but not limitation, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industrial Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a Memory bus, a MicroChannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses or a combination of two or more of these. Where appropriate, the bus 540 may include one or more buses.

[0166] It should be noted that Figure 5 The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the electronic device to which the scheme of the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0167] The embodiment of the present disclosure further provides a computer-readable storage medium, which may store a computer program. When the computer program is executed by a processor, the processor implements the motor control method provided by the embodiment of the present disclosure.

[0168] Among them, when the computer program is executed by the processor, the following steps are implemented: collecting the motor speed of the vehicle and determining the torque compensation amount based on the motor speed; collecting the driving mode and / or the accelerator pedal opening signal, correcting the torque compensation amount based on the driving mode and / or the accelerator pedal opening signal, and controlling the motor based on the corrected torque compensation amount.

[0169] Thus, the motor speed of the vehicle can be collected, and after the motor speed is obtained, the torque compensation amount is determined based on the motor speed; the driving mode and / or accelerator pedal opening signal is collected, and the torque compensation amount is corrected based on the driving mode and / or accelerator pedal opening signal, and then the motor control is performed based on the corrected torque compensation amount. Through the calculation of the torque compensation amount, the value of the torque compensation for the motor is determined, and the torque of the motor is compensated by this value, so as to offset the fluctuation of the speed, improve the stability of the motor speed, and thus improve the comfort of the driver and passengers. At the same time, based on the driving mode and / or accelerator pedal opening of the vehicle, the torque compensation amount is determined, and the torque compensation amount can be dynamically adjusted under different driving modes and / or accelerator pedal openings, thereby ensuring that in the process of motor control, not only the problem of vehicle shaking in daily vehicle operation can be solved, and the user's comfort can be improved, but also the motor torque can be dynamically adjusted in the intense mode to ensure the power output in the intense mode.

[0170] In some embodiments of the present disclosure, the motor speed of the vehicle is collected, and the torque compensation amount is determined based on the motor speed, including: determining the motor speed fluctuation amount based on the motor speed; performing torque compensation calculation based on the motor speed fluctuation amount to obtain the torque compensation amount.

[0171] In some embodiments of the present disclosure, a driving mode and / or an accelerator pedal opening signal is collected, the torque compensation amount is corrected based on the driving mode and / or the accelerator pedal opening signal, and the motor control is performed based on the corrected torque compensation amount, including: when the driving mode is the first driving mode, determining the accelerator pedal opening corresponding to the accelerator pedal opening signal; comparing the accelerator pedal opening with a preset opening threshold, and correcting the torque compensation amount based on the comparison result.

[0172] In some embodiments of the present disclosure, the preset opening threshold includes a first preset opening value and a second preset opening value, wherein the first preset opening value is smaller than the second preset opening value;

[0173] The accelerator pedal opening is compared with a preset opening threshold, and the torque compensation amount is corrected based on the comparison result, including: comparing the accelerator pedal opening with a first preset opening value and a second preset opening value respectively to obtain a comparison result; when the comparison result is that the accelerator pedal opening is greater than the first preset opening value and less than the second preset opening value, determining a first maximum intervention torque value corresponding to the accelerator pedal opening; and correcting the torque compensation amount based on the first maximum intervention torque value.

[0174] In some embodiments of the present disclosure, the accelerator pedal opening is compared with a preset opening threshold, and the torque compensation amount is corrected based on the comparison result, including: when the comparison result is that the accelerator pedal opening is less than or equal to the first preset opening value, determining a second maximum intervention torque value corresponding to the accelerator pedal opening, and correcting the torque compensation amount based on the second maximum intervention torque value; when the comparison result is that the accelerator pedal opening is greater than or equal to the second preset opening value, correcting the torque compensation amount to zero.

[0175] In some embodiments of the present disclosure, the first maximum intervention torque value is inversely proportional to the accelerator pedal opening; the first maximum intervention torque value is smaller than the second maximum intervention torque value.

[0176] In some embodiments of the present disclosure, a driving mode and / or an accelerator pedal opening signal is collected, the torque compensation amount is corrected based on the driving mode and / or the accelerator pedal opening signal, and the motor control is performed based on the corrected torque compensation amount, including: when the driving mode is the second driving mode, determining a third maximum intervention torque value corresponding to the second driving mode; comparing the third maximum intervention torque value with the torque compensation amount, and when the torque compensation amount is greater than or equal to the third maximum intervention torque value, correcting the torque compensation amount to the third maximum intervention torque value.

[0177] The above-mentioned storage medium may, for example, include a memory 520 of computer program instructions, and the above-mentioned instructions may be executed by the processor 510 of the electronic device to complete the motor control method provided by the embodiment of the present disclosure. Optionally, the storage medium may be a non-temporary computer-readable storage medium, for example, the non-temporary computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), an external cache memory, a compact disc read-only memory (CD-ROM), a magnetic tape, a floppy disk, a flash memory, and an optical data storage device. As an illustration and not limitation, RAM is available in a variety of forms, such as static random access memory (SRAM) and dynamic random access memory (DRAM).

[0178] The embodiment of the present disclosure also provides a vehicle, which includes an electronic device, and can realize the various processes and effects in the above embodiments of the present disclosure, which will not be described in detail here. Specifically, the electronic device can collect the motor speed of the vehicle, determine the torque compensation amount based on the motor speed; collect the driving mode and / or the accelerator pedal opening signal, correct the torque compensation amount based on the driving mode and / or the accelerator pedal opening signal, and control the motor based on the corrected torque compensation amount. Thus, the motor speed of the vehicle can be collected, and after the motor speed is obtained, the torque compensation amount is determined based on the motor speed; the driving mode and / or the accelerator pedal opening signal is collected, and the torque compensation amount is corrected based on the driving mode and / or the accelerator pedal opening signal, and then the motor is controlled based on the corrected torque compensation amount. Through the calculation of the torque compensation amount, the value of the torque compensation for the motor is determined, and the torque of the motor is compensated by the value, so as to offset the fluctuation of the speed, improve the stability of the motor speed, and thus improve the comfort of the driver and passengers. At the same time, the torque compensation amount is determined based on the vehicle's driving mode and / or accelerator pedal opening, and the torque compensation amount can be dynamically adjusted under different driving modes and / or accelerator pedal openings, thereby ensuring that during the motor control process, not only the problem of vehicle shaking in daily vehicle operation can be solved and user comfort can be improved, but the motor torque can also be dynamically adjusted in the intense mode to ensure the power output in the intense mode.

[0179] The embodiments of the present disclosure also provide a computer program product, which includes a computer program or instructions. When the computer program or instructions are executed by a processor, the motor control method provided by the embodiments of the present disclosure is implemented, and the various processes and effects in the above-mentioned embodiments of the present disclosure can be implemented, which will not be elaborated here.

[0180] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A motor control method, characterized in that: include: Collecting the motor speed of the vehicle, and determining the torque compensation amount based on the motor speed; The driving mode and / or the accelerator pedal opening signal are collected, the torque compensation amount is corrected based on the driving mode and / or the accelerator pedal opening signal, and the motor control is performed based on the corrected torque compensation amount.

2. The method according to claim 1, characterized in that The collecting the motor speed of the vehicle and determining the torque compensation amount based on the motor speed includes: determining a motor speed fluctuation amount based on the motor speed; A torque compensation calculation is performed based on the motor speed fluctuation to obtain the torque compensation amount.

3. The method according to claim 1, characterized in that The collecting of the driving mode and / or the accelerator pedal opening signal, correcting the torque compensation amount based on the driving mode and / or the accelerator pedal opening signal, and controlling the motor based on the corrected torque compensation amount includes: When the driving mode is the first driving mode, determining the accelerator pedal opening corresponding to the accelerator pedal opening signal; The accelerator pedal opening is compared with a preset opening threshold, and the torque compensation amount is corrected based on the comparison result.

4. The method according to claim 3, characterized in that: The preset opening threshold comprises a first preset opening value and a second preset opening value, wherein the first preset opening value is smaller than the second preset opening value; The step of comparing the accelerator pedal opening with a preset opening threshold and correcting the torque compensation amount based on the comparison result includes: Comparing the accelerator pedal opening with the first preset opening value and the second preset opening value respectively to obtain a comparison result; When the comparison result is that the accelerator pedal opening is greater than the first preset opening value and less than the second preset opening value, determining a first maximum intervention torque value corresponding to the accelerator pedal opening; The first maximum intervention torque value is compared with the torque compensation amount, and when the torque compensation amount is greater than or equal to the first maximum intervention torque value, the torque compensation amount is corrected to the first maximum intervention torque value.

5. The method according to claim 4, characterized in that The step of comparing the accelerator pedal opening with a preset opening threshold and correcting the torque compensation amount based on the comparison result includes: When the comparison result is that the accelerator pedal opening is less than or equal to the first preset opening value, determining a second maximum intervention torque value corresponding to the accelerator pedal opening, comparing the second maximum intervention torque value with the torque compensation amount, and when the torque compensation amount is greater than or equal to the second maximum intervention torque value, correcting the torque compensation amount to the second maximum intervention torque value; When the comparison result is that the accelerator pedal opening is greater than or equal to the second preset opening value, the torque compensation amount is corrected to zero.

6. The method according to claim 5, characterized in that The first maximum intervention torque value is inversely proportional to the accelerator pedal opening; the first maximum intervention torque value is smaller than the second maximum intervention torque value.

7. The method according to claim 1, characterized in that The collecting of the driving mode and / or the accelerator pedal opening signal, correcting the torque compensation amount based on the driving mode and / or the accelerator pedal opening signal, and controlling the motor based on the corrected torque compensation amount includes: When the driving mode is the second driving mode, determining a third maximum intervention torque value corresponding to the second driving mode; The third maximum intervention torque value is compared with the torque compensation amount, and when the torque compensation amount is greater than or equal to the third maximum intervention torque value, the torque compensation amount is corrected to the third maximum intervention torque value.

8. A motor control device, characterized in that: include: A torque compensation amount determination module, used for collecting the motor speed of the vehicle and determining the torque compensation amount based on the motor speed; The motor control module is used to collect a driving mode and / or an accelerator pedal opening signal, correct the torque compensation amount based on the driving mode and / or the accelerator pedal opening signal, and control the motor based on the corrected torque compensation amount.

9. An electronic device, characterized in that: include: processor; A memory for storing executable instructions; The processor is used to read the executable instructions from the memory and execute the executable instructions to implement the motor control method according to any one of claims 1 to 7.

10. A vehicle, characterized in that: Comprising the electronic device as claimed in claim 9.

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