Motor control method and device and vehicle

Abstract

The embodiment of the invention discloses a motor control method and device and a vehicle, and the method comprises the steps that when a vehicle motor is in a torque control mode, a first signal is sent, and the first signal is used for indicating that the torque of a non-target motor is transferred to a target motor; and when the output torque of the non-target motor is 0, at least one second signal is sent, and the second signal is used for indicating that the working mode of the target motor is a rotating speed control mode. When the motor is switched from torque control to rotating speed control, the probability of pause of the vehicle can be reduced.

Description

Technical Field

[0001] The present invention relates to the field of computer technology, and in particular, to a method and device for controlling an electric motor and a vehicle. Background Art

[0002] The vehicle controller can control the drive motor (also known as the electric motor) by using speed control or torque control respectively according to different vehicle operating conditions, so as to improve the comprehensive performance of the vehicle under specific conditions. Since the control principles of speed control and torque control are different, when the electric motor switches from torque control to speed control, the torque of the non-target motor will be cleared, and the torque superimposed by multiple motors received by the vehicle will fluctuate rapidly, resulting in vehicle jerks. Summary of the Invention

[0003] In view of this, embodiments of the present invention provide a method and device for controlling an electric motor and a vehicle, which can reduce the probability of vehicle jerks when the electric motor switches from torque control to speed control.

[0004] In a first aspect, an embodiment of the present invention provides a method for controlling an electric motor, the method including:

[0005] When the vehicle electric motor is in the torque control mode, send a first signal, where the first signal is used to indicate transferring the torque of the non-target motor to the target motor;

[0006] When the output torque of the non-target motor is 0, send at least one second signal, where the second signal is used to indicate that the operating mode of the target motor is the speed control mode.

[0007] When the vehicle switches from torque control to speed control, the torque of the non-target motor will be cleared. During this process, if torque transfer is not performed, the driving torque superimposed by multiple motors received by the vehicle will fluctuate rapidly, resulting in vehicle jerks. In the embodiments of the present invention, before the vehicle electric motor switches from the torque control mode to the speed control mode, the torque of the non-target motor is first transferred to the target motor, and when the output torque of the non-target motor is 0, the speed control mode is then switched. Therefore, for a multi-motor configuration, when only some of the motors are controlled to enter the speed control, it is necessary to first transfer the torque of the non-target motor to the target motor, so as to reduce the probability of vehicle jerks when the vehicle electric motor switches from torque control to speed control.

[0008] In combination with the first aspect, in some implementation manners of the first aspect, before sending the first signal, the method further includes:

[0009] Obtain the output torque of the non-target motor;

[0010] If the output torque of the non-target motor is not 0, send the first signal.

[0011] Exemplarily, when the vehicle controller determines that the output torque of the non-target motor is not 0, it sends a first signal. Therefore, when the output torque of the non-target motor is not 0, the torque of the non-target motor is transferred to the target motor.

[0012] In combination with the first aspect, in some implementation manners of the first aspect, after obtaining the output torque of the non-target motor, it further includes:

[0013] If the output torque of the non-target motor is 0, send the at least one second signal.

[0014] Exemplarily, when the vehicle controller determines that the output torque of the non-target motor is 0, there is no need to transfer the torque of the non-target motor to the target motor, and a second signal is directly sent to switch the working mode of the target motor to the speed control mode; or after the vehicle controller sends the first signal, all the torque of the non-target motor has been transferred to at least one target motor, and at this time the output torque of the non-target motor is also 0, and a second signal can be sent to switch the working mode of the target motor to the speed control mode.

[0015] In combination with the first aspect, in some implementation manners of the first aspect, when the output torque of the non-target motor is 0, the method further includes:

[0016] Send at least one third signal, and the third signal includes a target speed.

[0017] In the embodiment of the present invention, when the output torque of the non-target motor is 0, at least one third signal including a target speed is further sent, which is used to indicate that the speed of the target motor is the target speed.

[0018] In combination with the first aspect, in some implementation manners of the first aspect, before sending the at least one third signal, it further includes:

[0019] Obtain a first difference between the actual speed and the target speed of the target motor;

[0020] When the absolute value of the first difference is greater than or equal to a first threshold, send at least one fourth signal, and the fourth signal includes a first speed, and the first speed is determined by the actual speed and the first threshold.

[0021] Exemplarily, the vehicle controller determines whether the absolute value of the first difference is less than or equal to the first threshold to determine whether the gap between the target speed and the actual speed is small.

[0022] Exemplarily, when the vehicle controller determines that the absolute value of the first difference is greater than the first threshold, it indicates that the gap between the target speed and the actual speed is large. The fluctuation generated when the speed of the target motor directly changes from the actual speed to the target speed is large, and vehicle jerks will occur. Therefore, the third signal containing the target speed cannot be directly sent, and step 406 is continued to be executed.

[0023] For example, if the actual speed is 1000 revolutions per second, the target speed is 1500 revolutions per second, and the first threshold is 100 revolutions per second, then the first difference is 500 revolutions per second, and the absolute value of the first difference is greater than the first threshold.

[0024] Combined with the first aspect, in some implementation manners of the first aspect, it further includes:

[0025] When the absolute value of the first difference is less than or equal to the first threshold, the third signal is sent.

[0026] Exemplarily, when the vehicle controller determines that the absolute value of the first difference is less than or equal to the first threshold, it indicates that the gap between the target speed and the actual speed is small. The fluctuation generated when the speed of the target motor directly changes from the actual speed to the target speed is small, and vehicle jerks will not occur. Therefore, the third signal containing the target speed can be directly sent.

[0027] For example, if the actual speed is 1000 revolutions per second, the target speed is 1050 revolutions per second, and the first threshold is 100 revolutions per second, then the first difference is 50 revolutions per second, and the absolute value of the first difference is equal to the first threshold. Therefore, the third signal containing 1050 revolutions per second can be directly sent.

[0028] Combined with the first aspect, in some implementation manners of the first aspect, obtaining the first difference between the actual speed and the target speed of the target motor includes:

[0029] Obtaining the actual speed;

[0030] Obtaining the target speed according to the wheel radius and speed ratio of the vehicle;

[0031] Subtracting the actual speed from the target speed to obtain the first difference.

[0032] Exemplarily, the vehicle controller can continuously receive the current actual speed values fed back by each motor, calculate the expected target speed at the motor end through the wheel radius and speed ratio, and subtract the actual speed from the target speed to obtain the first difference.

[0033] Second aspect, an embodiment of the present invention provides a motor control device, including a processor and a memory. Among them, the memory is used to store a computer program, and the computer program includes program instructions. When the processor runs the program instructions, the motor control device is made to execute the following steps:

[0034] When the vehicle motor is in torque control mode, send a first signal, and the first signal is used to indicate transferring the torque of the non-target motor to the target motor;

[0035] When the output torque of the non-target motor is 0, send at least one second signal, and the second signal is used to indicate that the working mode of the target motor is speed control mode.

[0036] Combined with the second aspect, in some implementation manners of the second aspect, when the processor runs the program instructions, the motor control device is made to execute the following steps:

[0037] Before sending the first signal, it further includes:

[0038] Obtain the output torque of the non-target motor;

[0039] If the output torque of the non-target motor is not 0, send the first signal.

[0040] Combined with the second aspect, in some implementation manners of the second aspect, when the processor runs the program instructions, the motor control device is made to execute the following steps:

[0041] After obtaining the output torque of the non-target motor, it further includes:

[0042] If the output torque of the non-target motor is 0, send the at least one second signal.

[0043] Combined with the second aspect, in some implementation manners of the second aspect, when the processor runs the program instructions, the motor control device is made to execute the following steps:

[0044] When the output torque of the non-target motor is 0, the method further includes:

[0045] Send at least one third signal, and the third signal includes a target speed.

[0046] Combined with the second aspect, in some implementation manners of the second aspect, when the processor runs the program instructions, the motor control device is made to execute the following steps:

[0047] Before sending the at least one third signal, it further includes:

[0048] Obtain a first difference between the actual speed and the target speed of the target motor;

[0049] When the absolute value of the first difference is greater than or equal to a first threshold, at least one fourth signal is sent, and the fourth signal includes a first rotational speed, which is determined by the actual rotational speed and the first threshold.

[0050] In combination with the second aspect, in some implementation manners of the second aspect, when the processor runs the program instructions, the motor control device is caused to execute the following steps:

[0051] When the absolute value of the first difference is less than or equal to the first threshold, the third signal is sent.

[0052] In combination with the second aspect, in some implementation manners of the second aspect, when the processor runs the program instructions, the motor control device is caused to execute the following steps:

[0053] Obtain the actual rotational speed;

[0054] Obtain the target rotational speed according to the wheel radius and the speed ratio of the vehicle;

[0055] Subtract the actual rotational speed from the target rotational speed to obtain the first difference.

[0056] In a third aspect, an embodiment of the present invention provides a vehicle, including: the above-mentioned motor control device.

[0057] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, which stores a computer program, and the computer program includes program instructions, and when the program request is run by a vehicle, the vehicle is caused to execute the method as described above.

[0058] In a fifth aspect, an embodiment of the present invention provides a computer program product, which contains instructions, and when the computer program product runs on a vehicle or any at least one processor, the vehicle is caused to execute the functions / steps in the above method.

[0059] In the technical solutions of the motor control method, device and vehicle provided by the embodiments of the present invention, the method includes: when the vehicle motor is in the torque control mode, a first signal is sent, and the first signal is used to indicate transferring the torque of a non-target motor to a target motor; when the output torque of the non-target motor is 0, at least one second signal is sent, and the second signal is used to indicate that the working mode of the target motor is the rotational speed control mode. When the motor switches from torque control to rotational speed control, the probability of the vehicle experiencing jerks can be reduced. Description of the Drawings

[0060] Figure 1 It is a schematic diagram of a vehicle with a single-motor configuration;

[0061] Figure 2 Schematic diagram of a vehicle with another single-motor configuration;

[0062] Figure 3 Schematic diagram of a vehicle with a multi-motor configuration;

[0063] Figure 4 Schematic diagram of another vehicle with a multi-motor configuration;

[0064] Figure 5 Schematic diagram of another vehicle with a multi-motor configuration;

[0065] Figure 6 Schematic diagram of another vehicle with a multi-motor configuration;

[0066] Figure 7 Flowchart of a motor control method provided by an embodiment of the present invention;

[0067] Figure 8 Schematic diagram of the relationship among the vehicle controller, MCU, and multiple motors in a vehicle;

[0068] Figure 9 Flowchart of another motor control method provided by an embodiment of the present invention;

[0069] Figure 10 Flowchart of another motor control method provided by an embodiment of the present invention;

[0070] Figure 11 Flowchart of another motor control method provided by an embodiment of the present invention;

[0071] Figure 12 For Figure 11 Flowchart of obtaining the first difference between the actual speed and the target speed of the target motor in;

[0072] Figure 13 Flowchart of another motor control method provided by an embodiment of the present invention;

[0073] Figure 14 Flowchart of another motor control method provided by an embodiment of the present invention;

[0074] Figure 15 For Figure 14 Flowchart of obtaining the third difference between the actual torque and the target torque of the motor in;

[0075] Figure 16 Structural schematic diagram of a motor control device provided by an embodiment of the present invention. Detailed implementation manners

[0076] To better understand the technical solution of the present invention, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0077] It should be clear that the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

[0078] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The singular forms of "a", "the" and "said" used in the embodiments of the present invention and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0079] It should be understood that the term " / and" used herein is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this text generally represents an "or" relationship between the associated objects before and after.

[0080] To better understand the embodiments of the present application, the terms or concepts that may be involved in the embodiments are explained below.

[0081] The vehicle's vehicle control unit can control the speed or torque of the drive motor by sending a target speed command or a target torque command.

[0082] In the speed control scenario, the Micro Control Unit (MCU) performs closed-loop control on the motor speed based on the target speed command sent by the vehicle control unit and the actual motor speed, which can ensure that the motor speed meets the established expectation, but the actual output torque of the motor is not directly controlled by the vehicle control unit.

[0083] In the torque control scenario, the MCU performs closed-loop control on the actual motor torque based on the target torque command sent by the vehicle control unit, which can ensure that the motor torque meets the established expectation.

[0084] The vehicle control unit can control the drive motor by using speed control or torque control respectively according to different vehicle operating conditions, so as to improve the comprehensive performance of the vehicle under specific conditions. However, due to the inconsistent control principles of speed control and torque control, when the motor switches from torque control to speed control, the torque of the non-target motor will be cleared, and the torque superimposed by multiple motors on the vehicle will fluctuate rapidly, resulting in vehicle jerks.

[0085] In view of the above technical problems, an embodiment of the present invention provides a motor control method, which can reduce the probability of vehicle jerks when the motor switches from torque control to speed control. The motor control method provided by the embodiment of the present invention is applicable to the motor control scenario of a vehicle with a multi-motor configuration.

[0086] Exemplarily, the vehicle includes a single-motor configuration or a multi-motor configuration. A vehicle with a single-motor configuration includes 1 motor, and a vehicle with a multi-motor configuration includes multiple motors.

[0087] Exemplarily, Figure 1 is a schematic diagram of a vehicle with a single-motor configuration. As Figure 1 shown, the vehicle includes two front wheels above, two rear wheels below, and a drive motor; the drive motor is disposed between the two rear wheels of the vehicle and is used to control the two rear wheels of the vehicle.

[0088] Exemplarily, Figure 2 is a schematic diagram of another vehicle with a single-motor configuration. As Figure 2 shown, the vehicle includes two front wheels above, two rear wheels below, and a drive motor; the drive motor is disposed between the two front wheels of the vehicle and is used to control the two front wheels of the vehicle.

[0089] Exemplarily, Figure 3 is a schematic diagram of a vehicle with a multi-motor configuration. As Figure 3 shown, the vehicle includes two front wheels above, two rear wheels below, and 2 drive motors. One of the drive motors is disposed between the two front wheels of the vehicle and is used to control the two front wheels of the vehicle; the other drive motor is disposed between the two rear wheels of the vehicle and is used to control the two rear wheels of the vehicle.

[0090] Exemplarily, Figure 4 is a schematic diagram of another vehicle with a multi-motor configuration. As Figure 4 shown, the vehicle includes two front wheels above, two rear wheels below, and 3 drive motors. One of the drive motors is disposed between the two front wheels of the vehicle and is used to control the two front wheels of the vehicle; the other 2 drive motors are disposed between the two rear wheels of the vehicle, and 1 drive motor controls 1 rear wheel of the vehicle.

[0091] Exemplarily, Figure 5 is a schematic diagram of another vehicle with a multi-motor configuration. As Figure 5 shown, the vehicle includes two front wheels above, two rear wheels below, and 3 drive motors. One of the drive motors is disposed between the two rear wheels of the vehicle and is used to control the two rear wheels of the vehicle; the other 2 drive motors are disposed between the two front wheels of the vehicle, and 1 drive motor controls 1 front wheel of the vehicle.

[0092] Exemplarily,Figure 6 Schematic diagram of a vehicle with another multi - motor configuration, as Figure 6 shown. The vehicle includes two front wheels above, two rear wheels below, and four drive motors. Two of the drive motors are arranged between the two front wheels of the vehicle, and one drive motor controls one front wheel of the vehicle; the other two drive motors are arranged between the two rear wheels of the vehicle, and one drive motor controls one rear wheel of the vehicle.

[0093] Figure 7 Flowchart of a motor control method provided by an embodiment of the present invention. As Figure 7 shown, the method includes:

[0094] Step 102: When the vehicle motor is in the torque control mode, send a first signal, where the first signal is used to indicate transferring the torque of the non - target motor to the target motor.

[0095] In the embodiment of the present invention, each step is executed by a motor control device.

[0096] Exemplarily, the motor control device is the vehicle's vehicle control unit. Figure 8 Schematic diagram of the relationship between the vehicle control unit, MCU, and multiple motors in a vehicle, as Figure 8 shown. The vehicle control unit is electrically connected to the MCU, and the MCU is electrically connected to multiple motors of the vehicle; the vehicle control unit controls multiple motors of the vehicle by sending signals to the MCU.

[0097] Exemplarily, when the driver is driving normally, the vehicle motor is usually in the torque control mode. In a few special scenarios (such as low - speed parking, low - speed cruising, etc.), the vehicle motor is in the speed control mode.

[0098] Exemplarily, in the torque control mode, all motors of the vehicle are in the torque control mode; in the speed control mode, some motors of the vehicle are in the speed control mode.

[0099] When the vehicle motor is in the torque control mode, the vehicle control unit detects that the vehicle meets the conditions for the speed control mode and sends a first signal to the MCU.

[0100] Exemplarily, the target motor refers to the vehicle motor that is about to switch from the torque control mode to the speed control mode.

[0101] Exemplarily, the non - target motor refers to the vehicle motor that is different from the target motor.

[0102] Since in the speed control mode, some motors of the vehicle are in the speed control mode, there is at least one target motor and at least one non - target motor.

[0103] For example, in a dual-motor vehicle model, the rotational speed controller only wants to control the rotational speed of the rear motor. In this case, the rear motor is the target motor, and the front motor is the non-target motor.

[0104] In the embodiments of the present invention, the process of transferring the torque of the non-target motor to the target motor can be a gradual transition process, which can reduce the probability of the vehicle experiencing jerks.

[0105] Step 104: When the output torque of the non-target motor is 0, send at least one second signal, where the second signal is used to indicate that the operating mode of the target motor is the rotational speed control mode.

[0106] Exemplarily, one second signal corresponds to one target motor, so at least one second signal is sent.

[0107] Exemplarily, the label of the corresponding target motor can be added before each second signal, so as to distinguish the target motor corresponding to each second signal.

[0108] When the vehicle switches from torque control to rotational speed control, the torque of the non-target motor will be cleared. During this process, if torque transfer is not performed, the driving torque superimposed by multiple motors on the whole vehicle will fluctuate rapidly, resulting in the vehicle experiencing jerks.

[0109] In some possible embodiments, the vehicle controller sends target torque signals to each motor. When the vehicle controller performs torque transfer control, it will reduce the target torque of a certain motor and add the reduced value to the target torque of the remaining motors.

[0110] In the embodiments of the present invention, before the vehicle motor switches from the torque control mode to the rotational speed control mode, the torque of the non-target motor is first transferred to at least one target motor. When the output torque of the non-target motor is 0, it then switches to the rotational speed control mode. Therefore, in the embodiments of the present invention, when only controlling some of the motors to enter the rotational speed control for a multi-motor configuration, it is necessary to first transfer the torque of the non-target motor to the target motor to reduce the probability of the vehicle experiencing jerks.

[0111] In the technical solution of the motor control method provided by the embodiments of the present invention, the method includes: when the vehicle motor is in the torque control mode, send a first signal, where the first signal is used to indicate transferring the torque of the non-target motor to the target motor; when the output torque of the non-target motor is 0, send at least one second signal, where the second signal is used to indicate that the operating mode of the target motor is the rotational speed control mode. When the motor switches from torque control to rotational speed control, the probability of the vehicle experiencing jerks is reduced.

[0112] Figure 9 This is a flowchart of another motor control method provided by the embodiments of the present invention. As Figure 9 shown, the method includes:

[0113] Step 202: When the vehicle motor is in torque control mode, obtain the output torque of the non-target motor.

[0114] Exemplarily, when the vehicle motor is in torque control mode, the vehicle controller detects that the vehicle meets the conditions for speed control mode and obtains the output torque of the non-target motor.

[0115] Step 204: Determine whether the output torque of the non-target motor is 0. If not, execute Step 206; if so, execute Step 208.

[0116] Exemplarily, the vehicle controller determines whether the output torque of the non-target motor is 0.

[0117] Step 206: Send a first signal, which is used to indicate transferring the torque of the non-target motor to the target motor.

[0118] Exemplarily, when the vehicle controller determines that the output torque of the non-target motor is not 0, it sends the first signal. Therefore, when the output torque of the non-target motor is not 0, the torque of the non-target motor is transferred to the target motor.

[0119] Step 208: When the output torque of the non-target motor is 0, send at least one second signal, which is used to indicate that the working mode of the target motor is speed control mode.

[0120] Exemplarily, when the vehicle controller determines that the output torque of the non-target motor is 0 and there is no need to transfer the torque of the non-target motor to the target motor, it directly sends the second signal to switch the working mode of the target motor to speed control mode; or after the vehicle controller sends the first signal, all the torque of the non-target motor has been transferred to the target motor, and at this time the output torque of the non-target motor is also 0, and the second signal can be sent to switch the working mode of the target motor to speed control mode.

[0121] Figure 10 This is a flowchart of another motor control method provided by an embodiment of the present invention. As Figure 10 shown, the method includes:

[0122] Step 302: When the vehicle motor is in torque control mode, obtain the output torque of the non-target motor.

[0123] For the introduction of Step 302, reference can be made to the description of Step 202 in the foregoing Figure 9 shown embodiment, which will not be elaborated here.

[0124] Step 304: Determine whether the output torque of the non-target motor is 0. If not, execute Step 206; if so, execute Step 208.

[0125] For the introduction of Step 304, reference can be made to the foregoing Figure 9The description of step 204 in the illustrated embodiment will not be repeated here.

[0126] Step 306: Send a first signal, which is used to indicate transferring the torque of the non-target motor to the target motor.

[0127] For the introduction of step 306, reference can be made to the Figure 9 description of step 206 in the illustrated embodiment above, which will not be repeated here.

[0128] Step 308: When the output torque of the non-target motor is 0, send at least one second signal, which is used to indicate that the operating mode of the target motor is the speed control mode.

[0129] For the introduction of step 308, reference can be made to the Figure 9 description of step 208 in the illustrated embodiment above, which will not be repeated here.

[0130] Step 310: Send at least one third signal, and the third signal includes the target speed.

[0131] Exemplarily, the third signal is used to indicate that the speed of the target motor is the target speed.

[0132] It should be understood that the third signal and the second signal can be sent simultaneously, or the third signal and the second signal can be sent non-simultaneously.

[0133] In some possible examples, when the vehicle motor switches from the torque control mode to the speed control mode, for each target motor, the vehicle controller sends the second signal and the third signal to the MCU, and the MCU responds to the second signal and the third signal.

[0134] In some possible embodiments, when the vehicle motor switches from the torque control mode to the speed control mode, for each target motor, the vehicle controller sends the second signal, the third signal, and the target torque signal to the MCU. The MCU decides to respond to the third signal based on the operating mode included in the second signal being the speed control mode, rather than responding to the target torque signal.

[0135] In some possible embodiments, Figure 11 is a flowchart of another motor control method provided by an embodiment of the present invention. As Figure 11 shown, before step 310, the motor control method provided by the embodiment of the present invention further includes: steps 402 - 412.

[0136] Step 402: Obtain a first difference between the actual speed and the target speed of the target motor.

[0137] Exemplarily, before the vehicle controller sends the target speed, obtain the first difference, that is, the difference between the actual speed and the target speed of the target motor.

[0138] In some possible embodiments, such as Figure 12 shown, step 402 includes: step 402a - step 402c

[0139] Step 402a, obtain the actual speed of the target motor;

[0140] Exemplarily, the vehicle controller can continuously receive the current actual speed values fed back by each motor.

[0141] For example, the vehicle controller obtains the actual speed of the target motor from the MCU.

[0142] Step 402b, obtain the target speed according to the wheel radius and speed ratio of the vehicle;

[0143] Exemplarily, the vehicle controller calculates the desired target speed at the motor end through the wheel radius and speed ratio.

[0144] For example, by dividing the actual motor speed by the speed ratio to obtain the wheel speed, and then combining the wheel radius to calculate the distance that the wheel rolls one circle, so as to obtain the relationship between the motor speed and the vehicle speed.

[0145] Step 402c, subtract the actual speed from the target speed to obtain a first difference.

[0146] Step 404, determine whether the absolute value of the first difference is less than or equal to a first threshold. If so, execute step 310; if not, execute step 406.

[0147] Exemplarily, the vehicle controller determines whether the absolute value of the first difference is less than or equal to the first threshold to determine whether the gap between the target speed and the actual speed is small.

[0148] Exemplarily, when the vehicle controller determines that the absolute value of the first difference is less than or equal to the first threshold, it indicates that the gap between the target speed and the actual speed is small, and the fluctuation generated by directly changing the speed of the target motor from the actual speed to the target speed is small, and there will be no vehicle jerks. Therefore, it is only necessary to directly send a third signal containing the target speed.

[0149] For example, if the actual speed is 1000 revolutions per second, the target speed is 1050 revolutions per second, and the first threshold is 100 revolutions per second, then the first difference is 50 revolutions per second, and the absolute value of the first difference is equal to the first threshold. Therefore, a third signal containing 1050 revolutions per second can be directly sent.

[0150] Exemplarily, when the vehicle control unit determines that the absolute value of the first difference is greater than the first threshold, it indicates that the gap between the target speed and the actual speed is large. The fluctuation generated when the speed of the target motor directly changes from the actual speed to the target speed is large, and vehicle jerks will occur. Therefore, the third signal including the target speed cannot be directly sent, and step 406 is continued to be executed.

[0151] For example, if the actual speed is 1000 revolutions per second, the target speed is 1500 revolutions per second, and the first threshold is 100 revolutions per second, then the first difference is 500 revolutions per second, and the absolute value of the first difference is greater than the first threshold.

[0152] Step 406: Send at least one fourth signal, where the fourth signal includes a first speed, and the first speed is determined by the actual speed and the first threshold.

[0153] Exemplarily, when the vehicle control unit determines that the absolute value of the first difference is greater than the first threshold, it sends at least one fourth signal, where the fourth signal includes a first speed, and the first speed is determined by the actual speed and the first threshold.

[0154] Exemplarily, when the target speed is greater than the actual speed, the first speed is equal to the sum of the actual speed and the first threshold.

[0155] For example, if the actual speed is 1000 revolutions per second, the target speed is 1500 revolutions per second, and the first threshold is 100 revolutions per second, then the first speed is 1100 revolutions per second.

[0156] Exemplarily, when the target speed is less than the actual speed, the first speed is equal to the difference obtained by subtracting the first threshold from the actual speed.

[0157] For example, if the actual speed is 1000 revolutions per second, the target speed is 800 revolutions per second, and the first threshold is 100 revolutions per second, then the first speed is 900 revolutions per second.

[0158] Step 408: When the actual speed of the target motor reaches the first speed, obtain the second difference between the first speed and the target speed.

[0159] Exemplarily, when the vehicle control unit detects that the actual speed of the target motor reaches the first speed, it obtains the second difference between the first speed and the target speed.

[0160] Step 410: Determine whether the absolute value of the second difference is less than or equal to the first threshold. If so, execute step 310; if not, execute step 412.

[0161] Exemplarily, the vehicle control unit determines whether the absolute value of the second difference is less than or equal to the first threshold to determine whether the gap between the target speed and the first speed is small.

[0162] Exemplarily, when the vehicle controller determines that the absolute value of the second difference is less than or equal to the first threshold, it indicates that the difference between the target speed and the first speed is small, and the fluctuation generated when the speed of the target motor directly changes from the first speed to the target speed is small, and there will be no vehicle jerks. Therefore, the third signal including the target speed can be directly sent next time.

[0163] For example, if the actual speed is 1000 revolutions per second, the target speed is 1150 revolutions per second, and the first threshold is 100 revolutions per second, then the first difference is 150 revolutions per second, and the absolute value of the first difference is greater than the first threshold; after sending the fourth signal including 1100 revolutions per second, the actual speed of the target motor becomes the first speed, that is, 1100 revolutions per second, then the second difference is 50 revolutions per second, and the absolute value of the second difference is less than the first threshold. Therefore, the third signal including 1150 revolutions per second can be directly sent next time.

[0164] Exemplarily, when the vehicle controller determines that the absolute value of the second difference is greater than the first threshold, it indicates that the difference between the target speed and the first speed is large, and the fluctuation generated when the speed of the target motor directly changes from the first speed to the target speed is large, and there will be vehicle jerks. Therefore, the third signal including the target speed cannot be directly sent, and step 406 is continued to be executed.

[0165] Step 412: Send at least one fifth signal, where the fifth signal includes a second speed, and the second speed is determined by the first speed and the first threshold.

[0166] Exemplarily, when the vehicle controller determines that the absolute value of the second difference is greater than the first threshold, it sends at least one fifth signal, and the fifth signal includes a second speed, and the second speed is determined by the first speed and the first threshold.

[0167] Exemplarily, when the target speed is greater than the first speed, the second speed is equal to the sum of the first speed and the first threshold.

[0168] Exemplarily, when the target speed is less than the first speed, the second speed is equal to the difference between the first speed and the first threshold.

[0169] For example, if the actual speed is 1000 revolutions per second, the target speed is 1300 revolutions per second, and the first threshold is 100 revolutions per second, then the first difference is 300 revolutions per second, and the absolute value of the first difference is greater than the first threshold; after sending the fourth signal including 1100 revolutions per second, the actual speed of the target motor becomes the first speed, that is, 1100 revolutions per second, then the second difference is 200 revolutions per second, and the absolute value of the second difference is still greater than the first threshold. Therefore, a fifth signal including 1200 revolutions per second is sent. The actual speed of the target motor becomes the second speed, that is, 1200 revolutions per second, and the absolute value of the difference between the second speed and the target speed is equal to the first threshold. Therefore, the third signal including 1300 revolutions per second can be sent next time.

[0170] Exemplarily, after the vehicle controller sends multiple fifth signals including the second rotational speed, if the absolute value of the difference between the second rotational speed and the target rotational speed is still greater than the first threshold, and so on, the next signal to be sent needs to include the sum or difference of the second rotational speed and the first threshold until the absolute value of the difference between the current actual rotational speed and the target rotational speed of the vehicle controller is less than or equal to the first threshold.

[0171] In summary, before the third signal including the target rotational speed is sent in the embodiment of the present invention, it is first determined whether the absolute value of the difference between the actual rotational speed and the target rotational speed is greater than the first threshold. If it is less than or equal to the first threshold, it means that the difference between the target rotational speed and the actual rotational speed is small, and the fluctuation generated when the rotational speed of the target motor directly changes from the actual rotational speed to the target rotational speed is small, and there will be no vehicle jerks. Therefore, only one third signal including the target rotational speed needs to be sent to achieve a smooth transition of the rotational speed from the actual rotational speed to the target rotational speed. If it is greater than the first threshold, it means that the difference between the target rotational speed and the actual rotational speed is large, and the fluctuation generated when the rotational speed of the target motor directly changes from the actual rotational speed to the target rotational speed is large, and there will be vehicle jerks. Therefore, the third signal including the target rotational speed cannot be directly sent. Before sending the third signal, at least one signal including the rotational speed needs to be sent to achieve a smooth transition of the rotational speed from the actual rotational speed to the target rotational speed.

[0172] When torque control is switched to speed control, the vehicle controller controls the target motor based on the vehicle speed, and calculates the desired target rotational speed at the motor end through the wheel radius and the speed ratio. However, the target rotational speed signal requested by the vehicle controller needs to smoothly transition from the actual rotational speed of the motor to the target rotational speed according to a certain change slope to reduce the vehicle jerks caused by the step of the target rotational speed signal requested during the switching process.

[0173] The embodiment of the present invention realizes the smooth transition of the rotational speed of the target motor from the actual rotational speed to the target rotational speed through linear interpolation, and can reduce the vehicle jerks caused by the sudden change of the rotational speed of the target motor when torque control is switched to speed control.

[0174] Figure 13 It is a flowchart of another motor control method provided by the embodiment of the present invention. As Figure 13 shown, after step 310, the method includes:

[0175] Step 502, send multiple sixth signals, and the sixth signal includes an indication that the operating mode of the motor is the torque control mode.

[0176] Exemplarily, when the vehicle motor is in the speed control mode, the vehicle controller detects that the vehicle meets the conditions of the torque control mode and sends multiple sixth signals, and the sixth signal includes an indication that the operating mode of the motor is the torque control mode.

[0177] As described above, in torque control mode, all motors of the vehicle are in torque control mode. Therefore, there are multiple sixth signals, and one sixth signal corresponds to one motor.

[0178] Step 504: Send multiple seventh signals, where the seventh signals include the target torque.

[0179] Exemplarily, when the vehicle motor is in speed control mode, the vehicle controller detects that the vehicle meets the conditions for torque control mode and sends multiple seventh signals, where the seventh signals include the target torque.

[0180] It should be understood that the sixth signal and the seventh signal can be sent simultaneously, or the sixth signal and the seventh signal can be sent at different times.

[0181] In some possible examples, when switching from speed control mode to torque control mode, for each motor, the vehicle controller sends the sixth signal and the seventh signal to the MCU, and the MCU responds to the sixth signal and the seventh signal.

[0182] In some possible embodiments, when switching from speed control mode to torque control mode, for each motor, the vehicle controller sends the sixth signal, the seventh signal, and the target speed signal to the MCU. The MCU determines to respond to the seventh signal based on the working mode included in the sixth signal being torque control mode, and does not respond to the target speed signal.

[0183] In some possible embodiments, Figure 14 is a flowchart of another motor control method provided by an embodiment of the present invention. As Figure 14 shown, before step 504, the motor control method provided by the embodiment of the present invention further includes: step 602 - step 612.

[0184] Step 602: Obtain the third difference between the actual torque and the target torque of the motor.

[0185] Exemplarily, before the vehicle controller sends the target torque, obtain the third difference, that is, the difference between the actual torque and the target torque of the target motor.

[0186] In some possible embodiments, as Figure 15 shown, step 602 includes: step 602a - step 602d.

[0187] Step 602a: Obtain the actual speed and the actual torque of the motor;

[0188] Exemplarily, the vehicle controller can continuously receive the current actual torque value and the actual speed value fed back by each motor.

[0189] Step 602b: Obtain the target speed according to the wheel radius and the speed ratio of the vehicle;

[0190] Step 602c: Obtain the target torque based on the actual speed and the target speed of the motor;

[0191] Exemplarily, the vehicle controller controls the torque of the motor based on the difference between the actual speed and the target speed, so as to accelerate or decelerate the vehicle, thereby making the actual speed approach the target speed.

[0192] For example, the vehicle controller controls the torque of the motor based on the difference between the actual speed and the target speed of the motor, so as to accelerate or decelerate the vehicle, thereby making the actual speed approach the target speed. If the actual speed is lower than the target speed, the vehicle controller calculates a relatively large torque to drive the vehicle to accelerate. However, if the actual speed of the motor is higher than the target speed after acceleration, the vehicle controller quickly reduces the torque of the motor to reduce the actual speed of the vehicle and approach the target speed.

[0193] Step 602d: Subtract the actual torque from the target torque to obtain the third difference.

[0194] Step 604: Determine whether the absolute value of the third difference is less than or equal to the second threshold. If so, execute step 504; if not, execute step 606.

[0195] Exemplarily, the vehicle controller determines whether the absolute value of the third difference is less than or equal to the second threshold to determine whether the gap between the target torque and the actual torque is small.

[0196] Exemplarily, when the vehicle controller determines that the absolute value of the third difference is less than or equal to the second threshold, it indicates that the gap between the target torque and the actual torque is small, and the fluctuation generated by directly changing the torque of the motor from the actual torque to the target torque is small, and there will be no vehicle jerks. Therefore, the seventh signal containing the target torque can be directly sent.

[0197] For example, if the actual torque is 500 Nm, the target torque is 450 Nm, and the second threshold is 50 Nm, then the third difference is -50 Nm, and the absolute value of the third difference is equal to the second threshold. Therefore, the seventh signal containing 450 Nm can be directly sent.

[0198] Exemplarily, when the vehicle controller determines that the absolute value of the third difference is greater than the second threshold, it indicates that the gap between the target torque and the actual torque is large, and the fluctuation generated by directly changing the torque of the motor from the actual torque to the target torque is large, and there will be vehicle jerks. Therefore, the seventh signal containing the target torque cannot be directly sent, and step 606 is continued to be executed.

[0199] For example, if the actual torque is 500 Nm, the target torque is 600 Nm, and the second threshold is 100 Nm, then the third difference is 100 Nm, and the absolute value of the third difference is greater than the second threshold.

[0200] Step 606: Send multiple eighth signals, where the eighth signals include a first torque, and the first torque is determined by the actual torque and a second threshold value.

[0201] Exemplarily, when the vehicle controller determines that the absolute value of the third difference is greater than the second threshold value, it sends multiple eighth signals, where the eighth signals include a first torque, and the first torque is determined by the actual torque and the second threshold value.

[0202] Exemplarily, when the target torque is greater than the actual torque, the first torque is equal to the sum of the actual torque and the second threshold value.

[0203] For example, if the actual torque is 1000 Nm, the target torque is 1500 Nm, and the second threshold value is 100 Nm, then the first torque is 1100 Nm.

[0204] Exemplarily, when the target torque is less than the actual torque, the first torque is equal to the difference obtained by subtracting the second threshold value from the actual torque.

[0205] For example, if the actual torque is 1000 Nm, the target torque is 800 Nm, and the second threshold value is 100 Nm, then the first torque is 900 Nm.

[0206] Step 608: When the actual torque of the motor reaches the first torque, obtain a fourth difference between the first torque and the target torque.

[0207] Exemplarily, when the vehicle controller detects that the actual torque of the motor reaches the first torque, it obtains a fourth difference between the first torque and the target torque.

[0208] Step 610: Determine whether the absolute value of the fourth difference is less than or equal to the second threshold value. If so, execute step 504; if not, execute step 612.

[0209] Exemplarily, the vehicle controller determines whether the absolute value of the fourth difference is less than or equal to the second threshold value to judge whether the gap between the target torque and the first torque is small.

[0210] Exemplarily, when the vehicle controller determines that the absolute value of the fourth difference is less than or equal to the second threshold value, it indicates that the gap between the target torque and the first torque is small, and the fluctuation generated when the torque of the motor directly changes from the first torque to the target torque is small, and there will be no vehicle jerks. Therefore, the seventh signal containing the target torque can be directly sent next time.

[0211] For example, if the actual torque is 1000 Nm, the target torque is 1150 Nm, and the second threshold is 100 Nm, then the third difference is 150 Nm, and the absolute value of the third difference is greater than the second threshold; after sending the eighth signal containing 1100 Nm, the actual torque of the motor becomes the first torque, that is, 1100 Nm, then the fourth difference is 50 Nm, and the absolute value of the fourth difference is less than the second threshold. Therefore, the seventh signal containing 1150 Nm can be directly sent next time.

[0212] Exemplarily, when the vehicle control unit determines that the absolute value of the fourth difference is greater than the second threshold, it indicates that the gap between the target torque and the first torque is large, and the fluctuation generated by directly changing the torque of the motor from the first torque to the target torque is large, resulting in vehicle jerks. Therefore, the seventh signal containing the target torque cannot be directly sent, and step 612 is continued.

[0213] Step 612: Send multiple ninth signals, and the ninth signal includes a second torque, which is determined by the first torque and the second threshold.

[0214] Exemplarily, when the vehicle control unit determines that the absolute value of the fourth difference is greater than the second threshold, it sends multiple ninth signals, and the ninth signal includes a second torque, which is determined by the first torque and the second threshold.

[0215] Exemplarily, when the target torque is greater than the first torque, the second torque is equal to the sum of the first torque and the second threshold.

[0216] Exemplarily, when the target torque is less than the first torque, the second torque is equal to the difference between the first torque and the second threshold.

[0217] For example, if the actual torque is 1000 Nm, the target torque is 1300 Nm, and the second threshold is 100 Nm, then the third difference is 300 Nm, and the absolute value of the third difference is greater than the second threshold; after sending the eighth signal containing 1100 Nm, the actual torque of the motor becomes the first torque, that is, 1100 Nm, then the fourth difference is 200 Nm, and the absolute value of the fourth difference is still greater than the second threshold. Therefore, the ninth signal containing 1200 Nm is sent. The actual torque of the motor becomes the second speed, that is, 1200 Nm, then the absolute value of the difference between the second torque and the target torque is equal to the second threshold. Therefore, the seventh signal containing 1300 Nm can be sent next time.

[0218] Exemplarily, if after the vehicle control unit sends multiple ninth signals containing the second torque, the absolute value of the difference between the second torque and the target torque is still greater than the second threshold, and so on, the signal containing the sum or difference of the second torque and the second threshold needs to be sent next time until the absolute value of the difference between the current actual torque and the target torque of the vehicle control unit is less than or equal to the second threshold.

[0219] In summary, before sending the seventh signal containing the target torque, the embodiment of the present invention first determines whether the absolute value of the difference between the actual torque and the target torque is greater than the second threshold. If it is less than or equal to the second threshold, it indicates that the gap between the target torque and the actual torque is small, and the fluctuation generated by directly changing the torque of the motor from the actual torque to the target torque is small, and there will be no vehicle jerks. Therefore, only sending a seventh signal containing the target torque can achieve a smooth transition of the torque from the actual torque to the target torque. If it is greater than the second threshold, it indicates that the gap between the target torque and the actual torque is large, and the fluctuation generated by directly changing the torque of the motor from the actual torque to the target torque is large, and there will be vehicle jerks. Therefore, the seventh signal containing the target torque cannot be directly sent. Before sending the seventh signal, at least one signal containing torque needs to be sent to achieve a smooth transition of the torque from the actual torque to the target torque.

[0220] When switching from speed control to torque control, the vehicle controller controls the motor and vehicle speed based on the vehicle speed, and calculates the target torque at the motor end through a closed-loop controller. However, the target torque signal requested by the vehicle controller needs to smoothly transition from the actual torque of the motor to the target torque according to a certain change slope, reducing the vehicle jerks caused by the step change of the requested target torque signal during the switching process.

[0221] The embodiment of the present invention achieves a smooth transition of the torque of the motor from the actual torque to the target torque through linear interpolation, which can reduce the vehicle jerks caused by the sudden change of the motor torque when switching from speed control to torque control.

[0222] The above methods for achieving a smooth transition of the motor speed or torque are not limited to linear interpolation, and can also be curve interpolation with a change rate that is first small, then large, and then small, or other piecewise interpolation methods, etc.

[0223] Exemplarily, in special functions such as automatic parking and full-terrain creep, the motor speed control has advantages. If the speed control is used to implement functions such as parking and creep, then when the function is turned on, the vehicle will switch from torque control to speed control.

[0224] Exemplarily, for a vehicle model that uses speed control to implement functions such as automatic parking and full-terrain creep obtained through public information, those skilled in the art can install torque sensors and speed sensors to read the front and rear axle motor torque signals and speed signals before and after the function is turned on. If it is observed that the torque of the non-target motor is first transferred to the target motor, it can be determined that the vehicle model uses the motor control method provided by the embodiment of the present invention.

[0225] For example, for a vehicle with one motor at the front and one at the rear, based on the installed torque sensors, if it is detected that before the creep function is turned on, the front and rear axle motors output 50 Nm respectively; after the function is turned on, the torque of the front axle motor becomes zero, and the torque of the rear axle motor becomes 100 Nm, and the rear axle motor outputs torque during the subsequent time when the function is activated.

[0226] Exemplarily, if the models with functions such as automatic parking and full - terrain crawling do not adopt speed control through public information, those skilled in the art can add a speed sensor and a torque sensor, place the vehicle on a lift, and infer whether the model adopts speed control under special functions through the change curves of torque and speed. For a vehicle adopting torque control, after the vehicle is lifted by a lift, due to the lack of the influence of road resistance load, a large torque output will cause the vehicle wheel speed to rise rapidly. Even for torque control based on closed - loop control, it is difficult to quickly control the wheel to the target wheel speed; for a vehicle adopting speed control, after the vehicle is lifted by a lift, although there is no influence of road resistance load, the speed control on the MCU side can better control the vehicle wheel speed; by comparing the change curves of the wheel speed after the vehicle is lifted, it can be inferred whether the vehicle adopts torque control or speed control. Then, for the models adopting speed control, those skilled in the art can install a torque sensor and a speed sensor, read the front - and rear - axle motor torque signals and speed signals before and after the function is turned on. If it is observed that the torque of the non - target motor is first transferred to the target motor, it can be determined that the model adopts the motor control method provided by the embodiment of the present invention.

[0227] Figure 16 FIG. is a schematic structural diagram of a motor control device provided by an embodiment of the present invention. It should be understood that the motor control device 700 can execute each step in the above - mentioned motor control method embodiment. To avoid repetition, it will not be described in detail here. The motor control device 700 includes: a transceiver 701 and a processor 702.

[0228] The transceiver 701 is used to send a first signal when the vehicle motor is in the torque control mode. The first signal is used to indicate transferring the torque of the non - target motor to the target motor.

[0229] The transceiver 701 is further used to send at least one second signal when the output torque of the non - target motor is 0. The second signal is used to indicate that the working mode of the target motor is the speed control mode.

[0230] Optionally, the processor 702 is used to obtain the output torque of the non - target motor before the transceiver 701 sends the first signal; the transceiver 701 is further used to send the first signal if the output torque of the non - target motor is not 0.

[0231] Optionally, the transceiver 701 is further used to send the at least one second signal if the output torque of the non - target motor is 0.

[0232] Optionally, when the output torque of the non - target motor is 0, the transceiver 701 is further used to send at least one third signal. The third signal includes the target speed.

[0233] Optionally, before the transceiver 701 sends at least one third signal, the processor 702 is further configured to obtain a first difference between the actual speed and the target speed of the target motor; when the absolute value of the first difference is greater than a first threshold, the transceiver 701 is further configured to send at least one fourth signal, where the fourth signal includes a first speed determined by the actual speed and the first threshold.

[0234] Optionally, when the absolute value of the first difference is less than or equal to the first threshold, the transceiver 701 is further configured to send the third signal.

[0235] Optionally, the processor 702 is specifically configured to obtain the actual speed; obtain the target speed according to the wheel radius and the speed ratio of the vehicle; and obtain the first difference by subtracting the actual speed from the target speed.

[0236] An embodiment of the present application further provides a vehicle, including the above-mentioned motor control device.

[0237] An embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is run by the vehicle, the vehicle is caused to perform the operations in the above method embodiment.

[0238] An embodiment of the present application further provides a computer program product, where the computer program product stores a computer program, and the computer program includes program instructions, and when the program instructions are run by the vehicle, the vehicle is caused to perform the operations in the above method embodiment.

[0239] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described systems, devices, and units can refer to the corresponding processes in the foregoing method embodiments, and will not be described herein again.

[0240] In several embodiments provided by the present application, if any function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing an electronic device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present application. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs that can store program codes.

[0241] As described above, the foregoing is only the specific implementation manner of the present application. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered by the protection scope of the present application. The protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A motor control method, characterized in that, The method includes: When the vehicle motor is in torque control mode, send a first signal for instructing to transfer the torque of a non-target motor to a target motor. When the output torque of the non-target motor is 0, send at least one second signal for instructing that the operating mode of the target motor is speed control mode.

2. The method according to claim 1, wherein Before sending the first signal, it further includes: Obtain the output torque of the non-target motor. If the output torque of the non-target motor is not 0, send the first signal.

3. The method according to claim 2, wherein After obtaining the output torque of the non-target motor, it further includes: If the output torque of the non-target motor is 0, send the at least one second signal.

4. The method according to any one of claims 1 to 3, characterized in that, When the output torque of the non-target motor is 0, the method further includes: Send at least one third signal, where the third signal includes a target speed.

5. The method according to claim 4, wherein Before sending the at least one third signal, it further includes: Obtain a first difference between the actual speed and the target speed of the target motor. When the absolute value of the first difference is greater than or equal to a first threshold, send at least one fourth signal, where the fourth signal includes a first speed determined by the actual speed and the first threshold.

6. The method according to claim 5, wherein It further includes: When the absolute value of the first difference is less than or equal to the first threshold, send the third signal.

7. The method according to claim 5 or 6, characterized in that The obtaining of the first difference between the actual speed and the target speed of the target motor includes: Obtain the actual speed. Obtain the target speed according to the wheel radius and speed ratio of the vehicle. Subtract the actual speed from the target speed to obtain the first difference.

8. A motor control device, characterized in that, It includes a processor and a memory. The memory is used to store a computer program, and the computer program includes program instructions. When the processor runs the program instructions, the motor control device is caused to execute the following steps: When the vehicle motor is in torque control mode, send a first signal for instructing to transfer the torque of a non-target motor to a target motor. When the output torque of the non-target motor is 0, send at least one second signal for instructing that the operating mode of the target motor is speed control mode.

9. The device according to claim 8, characterized in that, When the processor runs the program instructions, the motor control device is caused to execute the following steps: Before sending the first signal, it further includes: Obtain the output torque of the non-target motor. If the output torque of the non-target motor is not 0, send the first signal.

10. The device according to claim 9, characterized in that, When the processor runs the program instructions, the motor control device is caused to execute the following steps: After obtaining the output torque of the non-target motor, it further includes: If the output torque of the non-target motor is 0, send the at least one second signal.

11. The device according to any one of claims 8-10, characterized in that, When the processor runs the program instructions, the motor control device is caused to execute the following steps: When the output torque of the non-target motor is 0, the method further includes: Send at least one third signal, where the third signal includes a target speed.

12. The device according to claim 11, characterized in that, When the processor runs the program instructions, the motor control device is caused to execute the following steps: Before sending the at least one third signal, it further includes: Obtain a first difference between the actual speed and the target speed of the target motor; When the absolute value of the first difference is greater than or equal to a first threshold, send at least one fourth signal, where the fourth signal includes a first speed determined by the actual speed and the first threshold.

13. The device according to claim 12, characterized in that, When the processor runs the program instructions, cause the motor control device to perform the following steps: When the absolute value of the first difference is less than or equal to the first threshold, send the third signal.

14. The device according to claim 12 or 13, characterized in that, When the processor runs the program instructions, cause the motor control device to perform the following steps: Obtain the actual speed; Obtain the target speed according to the wheel radius and the speed ratio of the vehicle; Subtract the actual speed from the target speed to obtain the first difference.

15. A vehicle, characterized in that, Comprising: The motor control device according to any one of claims 8-14.

16. A computer-readable storage medium, characterized in that, The readable storage medium stores a computer program, the computer program includes program instructions, and when the program instructions are run by the vehicle, cause the vehicle to perform the method according to any one of claims 1-7.

17. A computer program product, characterized in that, The computer program product stores a computer program, the computer program includes program instructions, and when the program instructions are run by the vehicle, cause the vehicle to perform the method according to any one of claims 1-7.

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