Torque control method and device in single pedal mode
By querying the required torque based on the vehicle speed and throttle opening in the single pedal mode, and determining the torque step size according to the torque change relationship, the problem of cease in the single pedal mode is solved, and the vehicle's power and smoothness are improved.
Patent Information
- Application Number
- CN202510291041.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-12
- Publication Date
- 2025-06-27
AI Technical Summary
In the existing single pedal mode, the driver is prone to feel awkward when he quickly releases or presses the accelerator pedal, reducing the power and smoothness of the vehicle.
By obtaining the current vehicle speed and throttle opening, check the current required torque in the preset throttle opening-vehicle speed-demand torque mapping table, and determine the torque step length of the current control cycle based on the positive and negative nature and magnitude of the demand torque and the motor target torque of the previous control cycle. When the pedal is quickly loosened, the torque step reduction strategy is adopted, and when the pedal is quickly stepped, the torque step is quickly responded by increasing the torque step.
It effectively reduces the feeling of jerking caused by the driver when he quickly releases or presses the accelerator pedal, and improves the power and smoothness of the vehicle.
Smart Images
Figure CN120207129A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of automotive control technology, and particularly to a torque control method and device in a single-pedal mode. Background Art
[0002] Due to the characteristic of negative torque braking feedback of the drive motor in electric vehicles, the single-pedal mode has been gradually developed and applied by vehicle manufacturers. The single-pedal mode realizes the driver's acceleration and deceleration requirements only by controlling the intensity of the positive and negative torques output by the motor through the accelerator pedal. In addition to being able to recover electric energy and improve the vehicle's endurance, it can also reduce vehicle braking wear and reduce driving fatigue.
[0003] In related technologies, the required torque and torque coefficient are usually determined according to the driving state of the vehicle, and the required torque is corrected by the torque coefficient, so that the finally output torque is closer to the driver's operation intention under the current vehicle driving state.
[0004] However, when determining the required torque in the existing method, the changes in the positive acceleration torque and negative deceleration torque are not considered separately. When the driver quickly releases or presses the accelerator pedal, a sense of jerk is likely to occur, reducing the power performance and smoothness of the actual driving of the vehicle. Summary of the Invention
[0005] This application provides a torque control method and device in a single-pedal mode, which can reduce the sense of jerk generated when the driver quickly releases or presses the accelerator pedal, and improve the power performance and smoothness of the actual driving of the vehicle.
[0006] In a first aspect, an embodiment of this application provides a torque control method in a single-pedal mode, and the method includes:
[0007] Obtain the current vehicle speed and throttle opening;
[0008] When the gear of the vehicle is in D gear or R gear, based on the current vehicle speed and throttle opening, query the current required torque in a preset throttle opening-vehicle speed-required torque mapping table;
[0009] Determine the torque step size of the current control cycle according to the positive / negative property and magnitude relationship between the current required torque and the motor target torque of the previous control cycle; the torque step size is an increasing torque step size or a decreasing torque step size;
[0010] Obtain the motor target torque of the current control cycle according to the torque step size of the current control cycle and the motor target torque of the previous control cycle.
[0011] This method retrieves the required torque value from the throttle opening - vehicle speed - required torque look - up table based on the current vehicle speed and throttle opening. Subsequently, by analyzing the positive / negative nature and numerical relationship between the current required torque and the motor target torque in the previous control cycle, the torque adjustment step size for the current control cycle is determined. When the driver quickly releases the throttle pedal, a torque reduction step - size strategy is adopted to adjust the motor target torque to suppress sudden changes in negative torque; while when quickly pressing the throttle pedal, the motor target torque is quickly adjusted through an increased torque step - size to achieve rapid response, improving the power performance and stability of the vehicle during actual driving.
[0012] In combination with the first aspect, in one embodiment, determining the torque step size for the current control cycle according to the positive / negative nature and magnitude relationship between the current required torque and the motor target torque in the previous control cycle includes:
[0013] According to the positive / negative nature and magnitude relationship between the current required torque and the motor target torque in the previous control cycle, select the corresponding step - size mapping table; the step - size mapping table includes a positive - torque increased - torque step - size mapping table, a positive - torque decreased - torque step - size mapping table, a negative - torque increased - torque step - size mapping table, and a negative - torque decreased - torque step - size mapping table;
[0014] According to the current vehicle speed and throttle opening, determine the torque step size for the current control cycle in the step - size mapping table.
[0015] In combination with the first aspect, in one embodiment, selecting the corresponding step - size mapping table according to the positive / negative nature and magnitude relationship between the current required torque and the motor target torque in the previous control cycle includes:
[0016] When the motor target torque in the previous control cycle is greater than or equal to zero and the current required torque is greater than the motor target torque in the previous control cycle, select the positive - torque increased - torque step - size mapping table;
[0017] When the motor target torque in the previous control cycle is greater than or equal to zero and the current required torque is less than the motor target torque in the previous control cycle, select the positive - torque decreased - torque step - size mapping table;
[0018] When the motor target torque in the previous control cycle is less than zero and the current required torque is greater than the motor target torque in the previous control cycle, select the negative - torque increased - torque step - size mapping table;
[0019] When the motor target torque in the previous control cycle is less than zero and the current required torque is less than the motor target torque in the previous control cycle, select the negative - torque decreased - torque step - size mapping table.
[0020] In combination with the first aspect, in one embodiment, the current vehicle speed is obtained by processing the current vehicle speed signal through a filtering algorithm.
[0021] In combination with the first aspect, in one embodiment, if the motor target torque in the current control cycle exceeds a preset safety threshold, the motor target torque in the current control cycle is dynamically adjusted so that it does not exceed the maximum allowable output value of the motor.
[0022] In combination with the first aspect, in one embodiment, after obtaining the motor target torque in the current control cycle, it further includes:
[0023] Send the motor target torque in the current control cycle to the motor controller.
[0024] In combination with the first aspect, in one embodiment, the throttle opening - vehicle speed - demand torque mapping table is dynamically adjusted according to the vehicle driving environment, and the vehicle driving environment includes slope and road surface adhesion coefficient.
[0025] In a second aspect, an embodiment of the present application provides a torque control device in a single - pedal mode, and the device includes:
[0026] An acquisition module, configured to obtain the current vehicle speed and throttle opening;
[0027] A query module, configured to query the current demand torque in a preset throttle opening - vehicle speed - demand torque mapping table based on the current vehicle speed and throttle opening when the gear of the vehicle is in D - gear or R - gear;
[0028] A calculation module, configured to determine the torque step size in the current control cycle according to the positive - negative property and magnitude relationship between the current demand torque and the motor target torque in the previous control cycle; and is further configured to obtain the motor target torque in the current control cycle according to the torque step size in the current control cycle and the motor target torque in the previous control cycle.
[0029] In combination with the second aspect, in one embodiment, it further includes:
[0030] A filtering module, configured to process the current vehicle speed signal through a filtering algorithm to obtain the current vehicle speed.
[0031] In combination with the second aspect, in one embodiment, it further includes:
[0032] An adjustment module, configured to dynamically adjust the throttle opening - vehicle speed - demand torque mapping table according to the vehicle driving environment, and the vehicle driving environment includes slope and road surface adhesion coefficient.
[0033] The beneficial effects brought by the technical solutions provided by the embodiments of the present application include:
[0034] In this application, the current required torque is queried in a preset throttle opening - vehicle speed - required torque mapping table based on the current vehicle speed and throttle opening. According to the positive / negative nature and magnitude relationship between the current required torque and the motor target torque in the previous control cycle, the torque step size for the current control cycle is determined. When the pedal is quickly released, a torque reduction step size is used to adjust the motor target torque to suppress negative torque steps. When the pedal is quickly depressed, the motor target torque is adjusted through an increased torque step size for quick response, effectively reducing the jerks generated when the driver quickly releases or depresses the accelerator pedal, and improving the power performance and smoothness of actual vehicle driving. Description of the Drawings
[0035] Figure 1 It is a schematic flowchart of the torque control method in the single - pedal mode of the embodiment of this application;
[0036] Figure 2 It is a schematic structural diagram of the torque control device in the single - pedal mode of the embodiment of this application. Detailed Embodiments
[0037] In order to enable those skilled in the art of this technology to better understand the solution of this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.
[0038] First, some technical terms in this application are explained to facilitate understanding of this application by those skilled in the art.
[0039] Single - pedal mode: A strong kinetic energy recovery mode for vehicles, mainly used in new - energy electric vehicles, aiming to increase the kinetic energy recovery efficiency and the driving range of the vehicle.
[0040] The single - pedal mode realizes the driver's acceleration and deceleration requirements only by controlling the intensity of the positive and negative torques output by the motor through the accelerator pedal. In addition to being able to recover electric energy and improve the driving range of the vehicle, it can also reduce vehicle braking wear and reduce driving fatigue. In the single - pedal mode, the frequency of using the brake pedal on the vehicle will become lower, so the service life of the components of the braking system will also increase invisibly. Once familiar with this mode, the vehicle speed can be reasonably controlled by using the accelerator pedal under general road conditions, which can reduce the driving fatigue to a certain extent.
[0041] The one-pedal mode switches positive and negative torques according to the vehicle speed and the throttle opening, implementing a three-stage throttle pedal logic. The throttle characteristics are different from the traditional standard / economy / sports modes, and the control strategy is relatively complex. To maintain a certain braking force while increasing the recovered energy, the feedback torque is relatively large. When releasing the throttle pedal, during the switching process of positive and negative torques, if the torque change rate is not properly controlled, it is easy to cause discomfort such as motion sickness for the driver and passengers. In some vehicles, the vehicle stops when the throttle is half-released, which does not meet the driving expectations.
[0042] Torque step: The torque step refers to the difference between the torque command output by the vehicle controller to the motor controller in the current control cycle and the torque command in the previous control cycle. It reflects the adjustment amount of the motor target torque in consecutive control cycles. A larger torque step means faster power response of the vehicle, and the actual torque can reach the target torque faster, thus improving the dynamic performance of the vehicle. While a smaller torque step helps to improve the smoothness and comfort of the vehicle.
[0043] To make the objectives, technical solutions, and advantages of this application more clear, the following will further describe the embodiments of this application in detail with reference to the accompanying drawings.
[0044] In the first aspect, please refer to Figure 1 , Figure 1 which is a schematic flowchart of the torque control method in the one-pedal mode of the embodiment of this application. The torque control method in the one-pedal mode provided in this embodiment includes the following steps:
[0045] Step S1: Obtain the current vehicle speed and throttle opening.
[0046] Step S2: When the gear of the vehicle is in D gear or R gear, based on the current vehicle speed and throttle opening, query the current required torque in the preset throttle opening - vehicle speed - required torque mapping table.
[0047] Step S3: Determine the torque step in the current control cycle according to the positive / negative and magnitude relationship between the current required torque and the motor target torque in the previous control cycle. The torque step is an increasing torque step or a decreasing torque step.
[0048] Step S4: Obtain the motor target torque in the current control cycle according to the torque step in the current control cycle and the motor target torque in the previous control cycle.
[0049] In this embodiment, the current required torque is queried in a preset throttle opening - vehicle speed - required torque mapping table based on the current vehicle speed and throttle opening. According to the positive / negative nature and magnitude relationship between the current required torque and the motor target torque in the previous control cycle, the torque step size for the current control cycle is determined. When the pedal is quickly released, the motor target torque is adjusted using a torque reduction step size to suppress negative torque steps. When the pedal is quickly depressed, the motor target torque is adjusted through an increased torque step size for a quick response, effectively reducing the sense of jerk generated when the driver quickly releases or depresses the accelerator pedal, and improving the power performance and smoothness of actual vehicle driving.
[0050] In some embodiments, before the above step S1, the vehicle controller can identify whether the vehicle is currently in a single - pedal driving mode or is switching to a single - pedal driving mode. When the vehicle is in a single - pedal driving mode or is switching to a single - pedal driving mode, steps S1 - S4 are executed.
[0051] In some embodiments, in the above step S1, the current vehicle speed is obtained by processing the current vehicle speed signal through a filtering algorithm.
[0052] Specifically, the vehicle controller obtains the current instantaneous vehicle speed signal and processes the current instantaneous vehicle speed signal through a filtering algorithm to obtain the current vehicle speed. The filtering algorithm can be Kalman filtering, low - pass filtering, moving average filtering, median filtering, or adaptive filtering. By filtering the vehicle speed signal, the noise in the vehicle speed signal can be effectively reduced, thereby obtaining a more accurate real - time vehicle speed.
[0053] In some embodiments, in the above step S2, the throttle opening - vehicle speed - required torque mapping table is dynamically adjusted according to the vehicle driving environment, where the vehicle driving environment includes slope and road surface adhesion coefficient.
[0054] Specifically, the binary group formed by the throttle opening and the vehicle speed is the key in the throttle opening - vehicle speed - required torque mapping table, and the required torque is the value in the throttle opening - vehicle speed - required torque mapping table, and the two are in a one - to - one correspondence. When the vehicle is on a low - adhesion road surface, the output slope of the required torque can be reduced to prevent the driving wheels from losing stability. When the slope of the driving road surface is large, the reference value of the required torque can be increased to avoid the risk of rolling back.
[0055] In some embodiments, in the above step S3, according to the positive / negative nature and magnitude relationship between the current required torque and the motor target torque in the previous control cycle, the torque step size for the current control cycle is determined, including the following steps:
[0056] S31: According to the positive / negative nature and magnitude relationship between the current required torque and the motor target torque in the previous control cycle, the corresponding step - size mapping table is selected, where the step - size mapping table includes a positive - torque increased - torque step - size mapping table, a positive - torque decreased - torque step - size mapping table, a negative - torque increased - torque step - size mapping table, and a negative - torque decreased - torque step - size mapping table.
[0057] S32: Determine the torque step size for the current control period in the step size mapping table according to the current vehicle speed and throttle opening.
[0058] It should be noted that positive torque and negative torque represent different directions of the motor output, while torque increase and torque decrease represent the changing trends of torque. Under different working conditions (such as acceleration, deceleration, and constant speed conditions), the motor needs to execute different torque adjustment strategies. By selecting the corresponding step size mapping table according to the positive / negative nature and magnitude relationship between the current required torque and the motor target torque of the previous control period, the torque output of the motor can be controlled more precisely, thereby reducing the sudden change of the vehicle's power output and making the driving process smoother and more comfortable.
[0059] The reason for determining the torque step size for the current control period in the step size mapping table according to the current vehicle speed and throttle opening is that the vehicle speed and throttle opening directly affect the vehicle's power output. The vehicle speed reflects the current motion state of the vehicle, while the throttle opening reflects the driver's intention of accelerating or decelerating. Under different vehicle speeds and throttle openings, the vehicle's torque requirements are different. Therefore, it is necessary to determine the torque step size according to the vehicle speed and throttle opening.
[0060] In some embodiments, in the above step S31, selecting the corresponding step size mapping table according to the positive / negative nature and magnitude relationship between the current required torque and the motor target torque of the previous control period includes:
[0061] When the motor target torque of the previous control period is greater than or equal to zero and the current required torque is greater than the motor target torque of the previous control period, select the positive torque increase step size mapping table.
[0062] When the motor target torque of the previous control period is greater than or equal to zero and the current required torque is less than the motor target torque of the previous control period, select the positive torque decrease step size mapping table.
[0063] When the motor target torque of the previous control period is less than zero and the current required torque is greater than the motor target torque of the previous control period, select the negative torque increase step size mapping table.
[0064] When the motor target torque of the previous control period is less than zero and the current required torque is less than the motor target torque of the previous control period, select the negative torque decrease step size mapping table.
[0065] It should be noted that during the acceleration process, the current required torque is usually greater than the motor target torque of the previous control cycle. Therefore, it is necessary to select a torque increasing step size mapping table to gradually increase the torque output. During the deceleration or braking process, the current required torque may be less than the motor target torque of the previous control cycle. Therefore, it is necessary to select a torque decreasing step size mapping table to gradually reduce the torque output. By selecting an appropriate step size mapping table, it can be ensured that the change in torque output is smooth and controllable, thereby reducing the sudden change in the motor power output, making the driving more stable and comfortable, and reducing the discomfort of passengers. At the same time, it can also reduce unnecessary energy losses, improve the energy efficiency of the vehicle, and extend the driving range.
[0066] In a more specific embodiment, assume that the current required torque is Treq(n), and the motor target torque of the previous control cycle is Ttarget(n - 1), where n represents the current control cycle and n - 1 represents the previous control cycle. Then, according to the positive / negative nature and magnitude relationship between the current required torque and the motor target torque of the previous control cycle, the rules for selecting the step size mapping table are as follows:
[0067] When Ttarget(n - 1) ≥ 0 and Treq(n) > Ttarget(n - 1), select the positive torque increasing step size mapping table.
[0068] When Ttarget(n - 1) ≥ 0 and Treq(n) < Ttarget(n - 1), select the positive torque decreasing step size mapping table.
[0069] When Ttarget(n - 1) < 0 and Treq(n) > Ttarget(n - 1), select the negative torque increasing step size mapping table.
[0070] When Ttarget(n - 1) < 0 and Treq(n) < Ttarget(n - 1), select the negative torque decreasing step size mapping table.
[0071] In some embodiments, in the above step S4, according to the torque step size of the current control cycle and the motor target torque of the previous control cycle, the motor target torque of the current control cycle is obtained. For the specific calculation process, please refer to the following formula:
[0072] Ttarget(n) = Ttarget(n - 1) + Tstep Formula (1)
[0073] In Formula (1), Ttarget(n) is the motor target torque of the current control cycle, Ttarget(n - 1) is the motor target torque of the previous control cycle, and Tstep is the torque step size of the current control cycle.
[0074] In consecutive control cycles, the target torque of the motor needs to be adjusted smoothly to avoid sudden changes in power output, which may affect driving comfort and stability. By setting the target torque of the motor in the current control cycle as the sum of the target torque of the motor in the previous control cycle and the torque step in the current control cycle, the continuity of torque adjustment can be ensured.
[0075] In some embodiments, if the target torque of the motor obtained in the current control cycle exceeds a preset safety threshold, the target torque of the motor in the current control cycle is dynamically adjusted so that it does not exceed the maximum allowable output value of the motor.
[0076] It should be noted that when the target torque of the motor exceeds the preset safety threshold, it will cause excessive load on the mechanical structure and transmission system of the motor, resulting in unnecessary wear and faults of the motor. By dynamically adjusting the target torque of the motor, it can be ensured that the target torque of the motor is within the maximum allowable output value range of the motor, thereby protecting the safety and reliability of the motor and the transmission system.
[0077] In some embodiments, in step S4 above, after obtaining the target torque of the motor in the current control cycle, the target torque of the motor in the current control cycle is sent to the motor controller.
[0078] In a second aspect, please refer to Figure 2 , Figure 2 which is a schematic structural diagram of the torque control device in the single-pedal mode of the embodiments of the present application. The torque control device in the single-pedal mode provided in this embodiment includes an acquisition module, a query module, and a calculation module.
[0079] The acquisition module is used to obtain the current vehicle speed and throttle opening.
[0080] The query module is used to query the current required torque in a preset throttle opening-vehicle speed-required torque mapping table based on the current vehicle speed and throttle opening when the gear of the vehicle is in D gear or R gear.
[0081] The calculation module is used to determine the torque step in the current control cycle according to the positivity / negativity and magnitude relationship between the current required torque and the target torque of the motor in the previous control cycle; and is also used to obtain the target torque of the motor in the current control cycle according to the torque step in the current control cycle and the target torque of the motor in the previous control cycle.
[0082] In this embodiment, the acquisition module is used to obtain the current vehicle speed and throttle opening. The query module queries the current required torque in a preset throttle opening - vehicle speed - required torque mapping table based on the current vehicle speed and throttle opening. The calculation module determines the torque step size of the current control cycle according to the positive / negative nature and magnitude relationship between the current required torque and the motor target torque of the previous control cycle. When the pedal is quickly released, a torque reduction step size is used to adjust the motor target torque to suppress the negative torque step. When the pedal is quickly depressed, the motor target torque is adjusted through an increased torque step size for rapid response, effectively reducing the jerks generated when the driver quickly releases or depresses the accelerator pedal, and improving the power performance and smoothness of actual vehicle driving.
[0083] In some embodiments, the torque control device in the above single - pedal mode further includes a filtering module.
[0084] The filtering module is used to process the current vehicle speed signal through a filtering algorithm to obtain the current vehicle speed.
[0085] Specifically, the vehicle controller reads the current instantaneous vehicle speed signal from the CAN (Controller Area Network) bus, and processes the current instantaneous vehicle speed signal through a filtering algorithm to obtain the current vehicle speed. The filtering algorithm can be Kalman filtering, low - pass filtering, moving average filtering, median filtering, or adaptive filtering. By filtering the vehicle speed signal, the noise in the vehicle speed signal can be effectively reduced, thereby obtaining a more accurate real - time vehicle speed.
[0086] In some embodiments, the torque control device in the above single - pedal mode further includes an adjustment module.
[0087] The adjustment module is used to dynamically adjust the throttle opening - vehicle speed - required torque mapping table according to the vehicle driving environment, where the vehicle driving environment includes the slope and road surface adhesion coefficient.
[0088] Specifically, when the vehicle is on a low - adhesion road surface, the output slope of the required torque can be reduced to prevent the driving wheels from losing stability. When the slope of the driving road surface is large, the reference value of the required torque can be increased to avoid the risk of vehicle rollback.
[0089] It should be noted that the serial numbers of the embodiments of the present application above are only for description and do not represent the advantages or disadvantages of the embodiments.
[0090] In the description of the specification, claims and the above-mentioned drawings of this application, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally further include steps or units not listed, or may optionally further include other steps or units inherent to these processes, methods, products or devices. Descriptions such as "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit that "first", "second" and "third" are different types.
[0091] In the description of the embodiments of this application, terms such as "exemplary", "for example" or "for instance" are used to indicate examples, illustrations or explanations. Any embodiment or design solution described as "exemplary", "for example" or "for instance" in the embodiments of this application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary", "for example" or "for instance" is intended to present relevant concepts in a specific manner.
[0092] In the description of the embodiments of this application, unless otherwise specified, " / " means "or". For example, A / B may mean A or B; "and / or" in the text is merely a description of the association relationship between associated objects, indicating that there can be three relationships. For example, A and / or B may mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "a plurality of" means two or more than two.
[0093] In some processes described in the embodiments of this application, there are a plurality of operations or steps that appear in a specific order. However, it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of this application or may be executed in parallel. The serial numbers of the operations are only used to distinguish different operations, and the serial numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.
[0094] Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of this application, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product is stored in a storage medium as described above (such as ROM / RAM, magnetic disk, optical disc), and includes several instructions to enable a terminal device to execute the methods described in the various embodiments of this application.
[0095] The above are only the preferred embodiments of the present application, and do not limit the patent scope of the present application accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be similarly included in the patent protection scope of the present application.
Claims
1. A torque control method in single pedal mode, characterized in that: The method comprises: Get the current vehicle speed and throttle opening; When the vehicle is in gear D or R, based on the current vehicle speed and throttle opening, the current required torque is queried in a preset throttle opening-vehicle speed-required torque mapping table; Determine the torque step length of the current control cycle according to the positive and negative relationship and magnitude relationship between the current required torque and the motor target torque of the previous control cycle; the torque step length is a torque increase step length or a torque decrease step length; The motor target torque of the current control cycle is obtained according to the torque step size of the current control cycle and the motor target torque of the previous control cycle.
2. The torque control method in single pedal mode according to claim 1, characterized in that: The step of determining the torque step of the current control cycle according to the relationship between the current demand torque and the motor target torque of the previous control cycle in terms of positivity and magnitude includes: According to the positive and negative relationship and magnitude relationship between the current required torque and the motor target torque of the previous control cycle, a corresponding step length mapping table is selected; the step length mapping table includes a positive torque increase step length mapping table, a positive torque decrease step length mapping table, a negative torque increase step length mapping table and a negative torque decrease step length mapping table; According to the current vehicle speed and throttle opening, the torque step length of the current control cycle is determined in the step length mapping table.
3. The torque control method in single pedal mode as claimed in claim 2, characterized in that: The step length mapping table is selected according to the positive and negative relationship and the magnitude relationship between the current required torque and the motor target torque of the previous control cycle, including: When the motor target torque of the previous control cycle is greater than or equal to zero and the current required torque is greater than the motor target torque of the previous control cycle, the positive torque increase step length mapping table is selected; When the motor target torque of the previous control cycle is greater than or equal to zero and the current required torque is less than the motor target torque of the previous control cycle, the positive torque reduction step length mapping table is selected; When the motor target torque of the previous control cycle is less than zero and the current required torque is greater than the motor target torque of the previous control cycle, the negative torque increase step length mapping table is selected; When the motor target torque of the previous control cycle is less than zero and the current required torque is less than the motor target torque of the previous control cycle, the negative torque reduction step length mapping table is selected.
4. The torque control method in single pedal mode according to claim 1, characterized in that: The current vehicle speed is obtained by processing the current vehicle speed signal through a filtering algorithm.
5. The torque control method in single pedal mode according to claim 1, characterized in that: If the motor target torque of the current control cycle exceeds a preset safety threshold, the motor target torque of the current control cycle is dynamically adjusted so that it does not exceed the maximum allowable output value of the motor.
6. The torque control method in single pedal mode according to claim 1, characterized in that: After obtaining the motor target torque of the current control cycle, it also includes: Send the motor target torque for the current control cycle to the motor controller.
7. The torque control method in single pedal mode according to claim 1, characterized in that: The throttle opening-vehicle speed-required torque mapping table is dynamically adjusted according to the vehicle driving environment, and the vehicle driving environment includes the slope and the road adhesion coefficient.
8. A torque control device in single pedal mode based on the method according to any one of claims 1 to 7, characterized in that: The device comprises: Acquisition module, used to obtain the current vehicle speed and throttle opening; A query module, used for querying the current required torque in a preset throttle opening-vehicle speed-required torque mapping table based on the current vehicle speed and throttle opening when the vehicle gear is in the D gear or the R gear; The calculation module is used to determine the torque step of the current control cycle based on the positive and negative relationship and size between the current demand torque and the motor target torque of the previous control cycle; it is also used to obtain the motor target torque of the current control cycle based on the torque step of the current control cycle and the motor target torque of the previous control cycle.
9. The torque control device in single-pedal mode as claimed in claim 8, characterized in that: Also includes: The filtering module is used to process the current vehicle speed signal through a filtering algorithm to obtain the current vehicle speed.
10. The torque control device in single-pedal mode according to claim 8, characterized in that: Also includes: The adjustment module is used to dynamically adjust the throttle opening-vehicle speed-required torque mapping table according to the vehicle driving environment, wherein the vehicle driving environment includes a slope and a road adhesion coefficient.