Motor control method, device, electronic equipment and vehicle

Abstract

The present disclosure relates to a motor control method, device, electronic device, and vehicle. The motor control method includes: collecting the motor speed of the vehicle and determining the torque compensation amount based on the motor speed; collecting the driving mode and / or accelerator pedal opening signal, correcting the torque compensation amount based on the driving mode and / or accelerator pedal opening signal, and controlling the motor based on the corrected torque compensation amount. According to an embodiment of the present disclosure, motor control is performed by correcting the torque compensation amount based on the driving mode and / or accelerator pedal opening signal, ensuring that the motor's torque compensation can not only solve the problem of vehicle vibration during daily vehicle operation, but also dynamically adjust the motor torque in the intense mode to ensure 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 the automobile industry, user demands for vehicles are becoming increasingly diverse and increasing. Safety, as the primary consideration when purchasing a car, remains paramount. At the same time, comfort has become an integral part of modern vehicles. For example, vehicle vibration reduction is achieved through real-time sensing of road conditions and vehicle vibration, thereby enhancing the user's driving experience and comfort. Furthermore, users' pursuit of driving pleasure is becoming increasingly prominent. They desire vehicles that are more than just a means of transportation, but also provide a fun driving experience and precise and flexible control. In other words, while users pursue safety and comfort, they also have a corresponding demand 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] A driving mode and / or an accelerator pedal opening signal is collected, a torque compensation amount is corrected based on the driving mode and / or the accelerator pedal opening signal, and a motor is controlled 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 thus 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 and the user's comfort be improved, but the motor torque can also 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 an amount of motor speed fluctuation 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 the motor speed is currently the key factor causing vehicle shaking. Therefore, in this solution, 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, 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 a motor based on the corrected torque compensation amount include:

[0014] When the driving mode is the first driving mode, determining an 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 driver's intention can be identified based on the driving mode, determining the driver's power output requirement. In the first driving mode, the accelerator pedal opening directly reflects the power output requirement. Therefore, in the first driving mode, the accelerator pedal opening is combined with the driver's desired power output to determine the desired power output. The torque compensation amount is then adjusted based on the power output. This ensures that the adjusted torque compensation amount meets the user's varying power output requirements in the first driving mode, 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 an embodiment of the present disclosure, in a first driving mode, and when the accelerator pedal opening is between a first preset opening value and a second opening value, the maximum intervention torque value is dynamically adjusted according to the size of the accelerator pedal opening, and then a first maximum intervention torque value that matches the size of the accelerator pedal opening is determined. 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] If 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 correcting the torque compensation amount to the second maximum intervention torque value if the torque compensation amount is greater than or equal to the second maximum intervention torque value;

[0025] 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.

[0026] In this disclosed embodiment, different torque compensation correction strategies are implemented based on different accelerator pedal openings. When the accelerator pedal opening is less than or equal to a first preset opening value, the torque compensation amount is corrected using a fixed maximum intervention torque value, eliminating the need to constantly determine the maximum intervention torque value. This reduces computational complexity and improves the efficiency of torque compensation correction. When the accelerator pedal opening is greater than or equal to a second preset opening value, the torque compensation amount is corrected to zero, ensuring maximum power output. Furthermore, the active damping control function can be dynamically disengaged without manual driver intervention, enhancing 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 angle increases, thereby achieving the effect of dynamically adjusting the maximum intervention torque value along 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, 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 a motor based on the corrected torque compensation amount include:

[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 an embodiment of the present disclosure, 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. There is no need to consider the influence of the accelerator pedal opening, which reduces the complexity of determining the maximum intervention torque value and thereby improves 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 the user's comfort, and meets the different needs of the driver in different driving modes.

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

[0034] A torque compensation amount determination module is 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 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 above.

[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 above.

[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, implements the motor control method as described in the first aspect above.

[0043] The technical solution provided by the embodiments of the present disclosure has the following advantages over the prior art:

[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 accelerator pedal opening signal, correct the torque compensation amount based on the driving mode and / or accelerator pedal opening signal, and then control the motor based on the corrected torque compensation amount. As a result, the torque compensation value for the motor can be determined by calculating the torque compensation amount, and the torque of the motor can be compensated by this value 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 driving mode and / or accelerator pedal opening of the vehicle, 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 can the problem of vehicle vibration during daily vehicle operation be solved and the user's comfort be improved, but the motor torque can also 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 disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without 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 torque compensation 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 diagram of a motor control device provided by an embodiment of the present disclosure;

[0051] Figure 5 It is a structural 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 therein can be combined with each other in the absence of 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 document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0056] It should be noted that the modifications of "one" and "multiple" 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, they should be understood as "one or more".

[0057] Generally speaking, with the rapid development of automobiles, users' demands for cars are becoming increasingly diverse and constantly increasing. Safety performance, as the primary consideration when purchasing a car, always occupies a pivotal position. At the same time, comfort has become an indispensable part of modern automobiles. For example, vehicle shock absorption is achieved through real-time sensing of road conditions and vehicle vibration, thereby improving the user's driving experience and comfort. Furthermore, users' pursuit of driving pleasure is also becoming increasingly prominent. They desire vehicles that are not just a means of transportation, but also provide a fun driving experience and precise and flexible control. In other words, while users pursue safety and comfort, they also have a corresponding demand 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. To address this problem, the embodiments of the present disclosure provide a motor control method, which is described below in conjunction with specific embodiments.

[0059] Figure 1 This is a flowchart of a motor control method provided by an embodiment of the present disclosure. The method can be executed by a motor control device, which 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 : Collect the motor speed of the vehicle, and determine the torque compensation amount based on the motor speed.

[0062] In an embodiment of the present disclosure, 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, when a preset condition is met, the electronic device can obtain the vehicle's motor speed, determine the motor speed fluctuation based on the motor speed, and then determine the torque compensation amount based on the motor speed fluctuation and a preset torque compensation rule. The preset condition can be any one or more of vehicle startup and receipt of a 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 embodiment of the present disclosure, 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 primarily aims to enhance the driving experience by increasing engine output, delaying transmission shifting, and other means to achieve stronger power output and faster acceleration. 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 designed 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 embodiments, the vehicle's accelerator pedal position signal is primarily used to control the engine's fuel injection rate, thereby regulating the vehicle's power output. Specifically, when the driver depresses the accelerator pedal, the position sensor on the accelerator pedal detects the pedal's position and converts this signal into an electrical signal, which is then transmitted to the motor controller and / or vehicle controller, thereby acquiring the accelerator pedal position signal.

[0072] In some examples, the electronic device can 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 accelerator pedal opening signal, determine the correction strategy based on the driving mode and 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 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. Thus, the torque compensation value for the motor can be determined by calculating the torque compensation amount, and the torque of the motor can be compensated by this value, thereby offsetting the fluctuation of the speed, improving the stability of the motor speed, and thus improving the comfort of the driver and passengers. At the same time, the torque compensation amount is determined based on the driving mode and / or accelerator pedal opening of the vehicle, and the torque compensation amount can be dynamically adjusted under different driving modes and / or accelerator pedal openings, thereby ensuring that in the motor control process, 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 an embodiment of the present disclosure, 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 embodiment of the present disclosure, 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 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 based on the parameters related to the motor speed to obtain the motor speed fluctuation.

[0082] Furthermore, after obtaining the motor speed fluctuation, the electronic device inputs the motor speed fluctuation into a preset adaptive algorithm for calculation, thereby obtaining the torque compensation for active damping, i.e., the vehicle's torque compensation. The specific implementation of calculating the torque compensation based on the preset adaptive algorithm is similar to existing implementations of calculating torque compensation based on adaptive algorithms and is not further described here.

[0083] In the embodiment of the present disclosure, 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, a torque compensation amount is corrected based on the driving mode and / or the accelerator pedal opening signal, and a motor is controlled based on the corrected torque compensation amount. Specifically, the method 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 and second preset opening values ​​can be understood as pre-calibrated thresholds for balancing the vehicle's active damping control function and the vehicle's power output. Specifically, they can be calibrated or specified based on actual vehicle driving experience, different vehicle models, different driving experiences, or different driving requirements.

[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 the driving mode is switched to the first driving mode, the electronic device can obtain an opening threshold 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, obtain a comparison result, and perform correction processing on the torque compensation amount according to the comparison result.

[0089] In the disclosed embodiment, the driver's intention can be identified based on the driving mode, determining the driver's power output requirement. In the first driving mode, the accelerator pedal opening directly reflects the power output requirement. Therefore, in the first driving mode, the accelerator pedal opening is combined with the driver's desired power output to determine the desired power output. The torque compensation amount is then adjusted based on the power output. This ensures that the adjusted torque compensation amount meets the user's varying power output requirements in the first driving mode, improving the user experience.

[0090] Figure 2 This is a flow chart of a method for correcting torque compensation in a first driving mode provided by an embodiment of the present disclosure. 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. Specifically, the following steps may be included:

[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 a first predetermined value and less than a second predetermined value, it indicates that the driver is driving aggressively and requires a greater torque output. Therefore, the active damping compensation torque upper limit, i.e., the maximum intervention torque value, is lowered in this case.

[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 an 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 an 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 embodiment of the present disclosure, 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 that matches the size of the accelerator pedal opening is determined. 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 being met during normal active damping 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 when the accelerator pedal opening is 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, correct the torque compensation amount to zero.

[0105] In the disclosed embodiment, correcting the torque compensation amount to zero can be understood as not performing torque compensation, that is, exiting the active shock absorption control function, not intervening in active shock absorption, and achieving full torque output, thereby achieving sufficient power and meeting 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. In this way, 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 this disclosed embodiment, different torque compensation correction strategies are implemented based on different accelerator pedal openings. When the accelerator pedal opening is less than or equal to a first preset opening value, the torque compensation amount is corrected using a fixed maximum intervention torque value, eliminating the need to constantly determine the maximum intervention torque value. This reduces computational complexity and improves the efficiency of torque compensation correction. When the accelerator pedal opening is greater than or equal to a second preset opening value, the torque compensation amount is corrected to zero, ensuring maximum power output. Furthermore, the active damping control function can be dynamically disengaged without manual driver intervention, enhancing the flexibility and convenience of motor control.

[0108] In the embodiment of the present disclosure, 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, the accelerator pedal opening signal of the vehicle can be obtained, and the first preset opening value and the 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 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 a torque compensation amount is corrected based on the first maximum intervention torque value, thereby controlling 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, 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 damping control function of the vehicle is directly controlled to be deactivated. Thus, when the vehicle's driving mode is the first driving mode, the driver's demand for vehicle power output can be determined based on the magnitude of the accelerator pedal opening signal, thereby adjusting the vehicle's active damping control function. It can dynamically correct the vehicle's torque compensation amount for motor control without the need for driver participation, 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 embodiment 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.

[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 an embodiment of the present disclosure, a driving mode and / or an accelerator pedal opening signal is collected, a torque compensation amount is corrected based on the driving mode and / or the accelerator pedal opening signal, and a motor is controlled based on the corrected torque compensation amount. Specifically, the method may also include: 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.

[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 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 when the driving mode of the vehicle is switched to the second driving mode, it determines the 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, performs motor control based on the torque compensation amount.

[0115] In an embodiment of the present disclosure, 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. There is no need to consider the influence of the accelerator pedal opening, which reduces the complexity of determining the maximum intervention torque value and thereby improves 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 This 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, collecting an accelerator pedal opening signal.

[0124] S340: Obtain a first preset opening value and a second preset opening value, 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.

[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 : Determine different torque compensation correction strategies based on the comparison result, correct the torque compensation based on the different torque compensation correction strategies, and control 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 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 it with the torque compensation value. If the torque compensation value is greater than or equal to the third maximum intervention torque value, the torque compensation value is corrected to the third maximum intervention torque value, and motor control is performed based on the third maximum intervention torque value. If the torque compensation value is less than the third maximum intervention torque value, motor control is performed based on the torque compensation value. This not only solves the problem of vehicle jitter in the second driving mode and improves user comfort, but also meets the driver's different needs in different driving modes, enhancing the user experience.

[0133] In an embodiment of the present disclosure, the vehicle's driving mode can be identified by collecting the vehicle's driving mode. When the driving mode is determined to be the first driving mode, or when the vehicle's driving mode is switched to the first driving mode, the driver's power output demand is determined based on the vehicle's accelerator pedal position signal. A maximum intervention torque value is determined based on the driver's power output demand, and the torque compensation amount is corrected based on the maximum intervention torque value. Motor control is then performed based on the corrected torque compensation amount. This allows for dynamic torque compensation correction without driver intervention. When the driving mode is the second driving mode, or when the vehicle's driving mode is determined to be switched to the second driving mode, the torque compensation amount is corrected based on the maximum intervention torque value in the second driving mode. Motor control is then performed based on the corrected torque compensation amount, ensuring user comfort. Thus, different correction strategies can be used to correct the torque compensation amount in different driving modes, improving the accuracy and flexibility of motor control and enhancing the 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 embodiment of the present disclosure, 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 obtained 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] As a result, the motor can be controlled through the motor control instructions sent by the whole machine controller, realizing dynamic control of the motor and improving the user experience.

[0138] Figure 4 Schematic diagram of the structure of a motor control device provided by an embodiment of the present disclosure.

[0139] In the embodiments of the present disclosure, the motor control device may be provided within an electronic device and may be understood as a functional module within the electronic device. Specifically, the electronic device may be a server or a terminal, where the terminal specifically includes an in-vehicle terminal, a mobile phone, a computer, or a tablet computer, or any device capable of processing the motor control method, without limitation.

[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 configured to collect a motor speed of the vehicle and determine a torque compensation amount based on the motor speed.

[0142] The motor control module 420 may be configured to collect a driving mode and / or accelerator pedal opening signal, correct a torque compensation amount based on the driving mode and / or 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 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. Thus, the torque compensation value for the motor can be determined by calculating the torque compensation amount, and the torque of the motor can be compensated by this value, thereby offsetting the fluctuation of the speed, improving the stability of the motor speed, and thus improving the comfort of the driver and passengers. At the same time, the torque compensation amount is determined based on the driving mode and / or accelerator pedal opening of the vehicle, and the torque compensation amount can be dynamically adjusted under different driving modes and / or accelerator pedal openings, thereby ensuring that in the motor control process, 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 configured 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 may also be specifically configured to compare the accelerator pedal opening with the first preset opening value and the second preset opening value 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 further 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 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.

[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 further 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 the various steps in the above method embodiment and realize the various processes and effects in the above method embodiment, which will not be described in detail here.

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

[0159] In the embodiments of the present disclosure, 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] Memory 520 may include a large-capacity memory for information or instructions. By way of example, and not limitation, memory 520 may include a hard disk drive (HDD), a floppy disk drive, flash memory, an optical disk, a magneto-optical disk, magnetic tape, or a Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 520 may include removable or non-removable (or fixed) media. Where appropriate, memory 520 may be internal or external to the integrated gateway device. In certain embodiments, memory 520 is non-volatile solid-state memory. In certain embodiments, memory 520 includes read-only memory (ROM). Where appropriate, the ROM may be mask-programmed ROM, programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable PROM (EEPROM), electrically alterable ROM (EAROM), or flash memory, or a combination of two or more of these.

[0163] The processor 510 reads and executes 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. By way of example and 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 only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the electronic device to which the solution 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 component arrangement.

[0167] The embodiments of the present disclosure further provide 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 embodiments 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 accelerator pedal opening signal, correcting the torque compensation amount based on the driving mode and / or accelerator pedal opening signal, and controlling the motor based on the corrected torque compensation amount.

[0169] In this way, the vehicle's motor speed can be collected, and after obtaining the motor speed, the torque compensation amount can be determined based on the motor speed; the driving mode and / or accelerator pedal opening signal can be collected, and the torque compensation amount can be corrected based on the driving mode and / or accelerator pedal opening signal, and then the motor control can be performed based on the corrected torque compensation amount. By calculating the torque compensation amount, the value of torque compensation for the motor is determined, and the motor torque is compensated by this value 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. 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 can the problem of vehicle shaking during daily vehicle operation be solved and the user's comfort be improved, but the motor torque can also 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 is controlled 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 the 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 is controlled 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 in 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 various forms, such as static random access memory (SRAM) and dynamic random access memory (DRAM).

[0178] The present disclosure also provides a vehicle comprising an electronic device capable of implementing the various processes and effects described in the aforementioned embodiments of the present disclosure, which will not be elaborated upon herein. Specifically, the electronic device can collect the vehicle's motor speed and determine a torque compensation amount based on the motor speed; collect a driving mode and / or accelerator pedal position signal, correct the torque compensation amount based on the driving mode and / or accelerator pedal position signal, and then control the motor based on the corrected torque compensation amount. Thus, the vehicle's motor speed can be collected, and after obtaining the motor speed, a torque compensation amount can be determined based on the motor speed; the driving mode and / or accelerator pedal position signal can be collected, and the torque compensation amount can be corrected based on the driving mode and / or accelerator pedal position signal, and then control the motor based on the corrected torque compensation amount. By calculating the torque compensation amount, a torque compensation value for the motor is determined, and the motor torque is compensated using this value, thereby offsetting speed fluctuations, improving the smoothness of the motor speed, and thereby enhancing driver and passenger comfort. 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 can the problem of vehicle vibration in daily vehicle operation be solved, thereby improving user comfort, but the motor torque can also be dynamically adjusted in the intense mode to ensure power output in the intense mode.

[0179] An embodiment of the present disclosure also provides 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 embodiment 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 repeated here.

[0180] The foregoing description is intended only to provide specific embodiments of the present disclosure, intended to enable those skilled in the art to understand and implement the present disclosure. Various modifications to these embodiments will be readily 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 is not intended to be limited to the embodiments described herein, but rather to be construed in the broadest manner consistent with the principles and novel features disclosed herein.

Claims

1. A motor control method, characterized in that: include: collecting a motor speed of the vehicle, and determining a torque compensation amount based on the motor speed; collecting a driving mode and / or an 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; 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 an 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; 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; 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 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; 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.

2. The method according to claim 1, characterized in that The collecting of 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 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 shows that the accelerator pedal opening is less than or equal to a 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 correcting the torque compensation amount to the second maximum intervention torque value when the torque compensation amount is greater than or equal 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.

4. The method according to claim 3, 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.

5. The method according to claim 1, wherein 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.

6. A motor control device, characterized in that: include: a torque compensation amount determination module, configured to collect a motor speed of the vehicle and determine a torque compensation amount based on the motor speed; a motor control module, configured 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; The motor control module is specifically configured to, when the driving mode is the first driving mode, determine an accelerator pedal opening corresponding to the accelerator pedal opening signal; and compare 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 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; 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.

7. An electronic device, characterized in that: include: processor; a memory for storing executable instructions; The processor is configured 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 5.

8. A vehicle, characterized in that: Comprising the electronic device as claimed in claim 7.

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