Control method, motor, automobile, equipment, storage medium and program product

Abstract

The invention discloses a control method, a motor, an automobile, equipment, a storage medium and a program product, and belongs to the technical field of computers. The method comprises the following steps: acquiring a current torque and a current rotating speed of a target motor and a target torque for the target motor; and controlling the target motor to operate based on an operation strategy corresponding to the target operation scene, the target operation scene is determined based on the current torque, the current rotating speed and the target torque. According to the control method disclosed by the invention, adverse reactions such as automobile shaking, abnormal sound and poor driving and riding comfort in the running process of the motor can be eliminated.

Description

Technical Field

[0001] This application belongs to the field of computer technology, and particularly relates to a control method, a motor, an automobile, a device, a storage medium, and a program product. Background Art

[0002] Generally, after a motor in an automobile obtains the target torque issued by the control unit, it determines how to reach the target torque according to the relationship between the absolute value of the target torque and the current execution torque. For example, when the absolute value of the target torque is greater than the current execution torque, the torque is increased.

[0003] However, since the torque of the motor has two cases of positive and negative, and the rotational speed of the motor also has two cases of positive and negative, the method of simply determining how to reach the target torque according to the relationship between the absolute value of the target torque and the current execution torque is likely to cause adverse reactions such as vehicle jitter, abnormal noise, and poor ride comfort. Summary of the Invention

[0004] This application aims to solve at least one of the technical problems existing in the prior art. For this purpose, this application provides a control method, a motor, an automobile, a device, a storage medium, and a program product to eliminate adverse reactions such as vehicle jitter, abnormal noise, and poor ride comfort during the operation of the motor.

[0005] In a first aspect, this application provides a control method, which includes:

[0006] Obtain the current torque, current rotational speed of the target motor, and the target torque for the target motor;

[0007] Control the operation of the target motor based on the operation strategy corresponding to the target operation scenario; the target operation scenario is determined based on the current torque, current rotational speed, and target torque.

[0008] According to the control method of this application, by obtaining the current torque, current rotational speed of the target motor, and the target torque for the target motor; and controlling the operation of the target motor based on the operation strategy corresponding to the target operation scenario determined according to the current torque, current rotational speed, and target torque, the operation process of the target motor is controlled by the operation strategy corresponding to the target operation scenario, which is more in line with the target operation scenario, so as to avoid adverse reactions such as vehicle jitter, abnormal noise, and poor ride comfort generated when the target motor operates based on an operation strategy contrary to the target operation scenario.

[0009] According to an embodiment of this application, controlling the operation of the target motor based on the operation strategy corresponding to the target operation scenario includes:

[0010] Determine the target operation scenario based on the current torque, current rotational speed, and target torque;

[0011] Determine an operating strategy based on the target operating scenario, the current torque, and the target torque;

[0012] Control the target motor to operate based on the operating strategy.

[0013] According to an embodiment of the present application, determine the target operating scenario based on the current torque, the current rotational speed, and the target torque, including:

[0014] When the current torque and the target torque have the same sign, determine that the target operating scenario is a first type of scenario;

[0015] When the current torque and the target torque have different signs, determine that the target operating scenario is a second type of scenario.

[0016] According to an embodiment of the present application, determine the operating strategy based on the target operating scenario, the current torque, and the target torque, including:

[0017] When the target operating scenario is a first type of scenario, determine the operating strategy as a first type of operating strategy based on the relationship between the target torque and the current torque; the first type of operating strategy is used to indicate the variation law of the target motor torque in each stage, and the target motor torque variation is controlled based on different jerk values in adjacent two stages, and the number of stages is at least 2.

[0018] According to an embodiment of the present application, determine the operating strategy based on the target operating scenario, the current torque, and the target torque, including:

[0019] When the target operating scenario is a second type of scenario, determine the operating strategy as a second type of operating strategy based on the signs of the target torque and the current torque; the second type of operating strategy is used to indicate the variation law of the target motor torque in each stage, and the target motor torque variation is controlled based on different jerk values in adjacent two stages, and the number of stages is at least 3.

[0020] According to an embodiment of the present application, the first type of scenario includes a first operating scenario and a second operating scenario; the first type of operating strategy includes a first operating strategy and a second operating strategy; when the target operating scenario is a first type of scenario, determine the operating strategy as a first type of operating strategy based on the relationship between the target torque and the current torque, including:

[0021] When the target operating scenario is the first operating scenario or the second operating scenario, and the target torque is greater than the current torque, determine the operating strategy as the first operating strategy; the first operating strategy is used to indicate that in the first stage, the target motor torque is increased based on a positive jerk value, in the second stage, the target motor torque is increased based on a zero jerk value, and in the third stage, the target motor torque is increased based on a negative jerk value;

[0022] When the target operating scenario is the first operating scenario or the second operating scenario, and the target torque is less than the current torque, determine that the first type of operating strategy is the second operating strategy; the second operating strategy is used to indicate that in the first stage, the target motor reduces the torque based on a jerk less than zero, in the second stage, the target motor reduces the torque based on a jerk equal to zero, and in the third stage, the target motor reduces the torque based on a jerk greater than zero;

[0023] Among them, the first operating scenario is a scenario where the current torque is positive, the current speed is positive, and the target torque is positive; the second operating scenario is a scenario where the current torque is positive, the current speed is negative, and the target torque is positive.

[0024] According to an embodiment of the present application, the first type of scenario further includes a third operating scenario and a fourth operating scenario; the first type of operating strategy further includes a third operating strategy and a fourth operating strategy; when the target operating scenario is the first type of scenario, based on the relationship between the target torque and the current torque, determine that the operating strategy is the first type of operating strategy, including:

[0025] When the target operating scenario is the third operating scenario or the fourth operating scenario, and the target torque is less than the current torque, determine that the operating strategy is the third operating strategy; the third operating strategy is used to indicate that in the first stage, the target motor reduces the torque based on a jerk less than zero, in the second stage, the target motor reduces the torque based on a jerk equal to zero, and in the third stage, the target motor reduces the torque based on a jerk greater than zero;

[0026] When the target operating scenario is the third operating scenario or the fourth operating scenario, and the target torque is greater than the current torque, determine that the operating strategy is the fourth operating strategy; the fourth operating strategy is used to indicate that in the first stage, the target motor increases the torque based on a jerk greater than zero, in the second stage, the target motor increases the torque based on a jerk equal to zero, and in the third stage, the target motor increases the torque based on a jerk less than zero;

[0027] Among them, the third operating scenario is a scenario where the current torque is negative, the current speed is negative, and the target torque is negative; the fourth operating scenario is a scenario where the current torque is negative, the current speed is positive, and the target torque is negative.

[0028] According to an embodiment of the present application, the second type of scenario includes a fifth operating scenario and a sixth operating scenario; the second type of operating strategy includes a fifth operating strategy; when the target operating scenario is the second type of scenario, based on the signs of the target torque and the current torque, determine that the operating strategy is the second type of operating strategy, including:

[0029] When the target operating scenario is the fifth operating scenario or the sixth operating scenario, the torque decreases from the current torque to zero and then from zero to the target torque, the operating strategy is determined to be the fifth operating strategy; the fifth operating strategy is used to indicate that in the first stage, the target motor reduces the torque based on a jerk less than zero, in the second stage, the target motor reduces the torque based on a jerk equal to zero, in the third stage, the target motor reduces the torque based on a jerk greater than zero until the torque decreases to zero, in the fourth stage, the target motor reduces the torque from zero based on a jerk less than zero, in the fifth stage, the target motor reduces the torque based on a jerk equal to zero, and in the sixth stage, the target motor reduces the torque to the target torque based on a jerk greater than zero;

[0030] Among them, the fifth operating scenario is a scenario where the current torque is positive, the current speed is positive, and the target torque is negative; the sixth operating scenario is a scenario where the current torque is positive, the current speed is negative, and the target torque is negative.

[0031] According to an embodiment of the present application, the second type of scenario further includes a seventh operating scenario and an eighth operating scenario; the second type of operating strategy includes a sixth operating strategy; when the target operating scenario is the second type of scenario, based on the signs of the target torque and the current torque, the operating strategy is determined to be the second type of operating strategy, including:

[0032] When the target operating scenario is the seventh operating scenario or the eighth operating scenario, the torque increases from the current torque to zero and then from zero to the target torque, the operating strategy is determined to be the sixth operating strategy; the sixth operating strategy is used to indicate that in the first stage, the target motor increases the torque based on a jerk greater than zero, in the second stage, the target motor increases the torque based on a jerk equal to zero, in the third stage, the target motor increases the torque based on a jerk less than zero until the torque increases to zero, in the fourth stage, the target motor increases the torque from zero based on a jerk greater than zero, in the fifth stage, the target motor increases the torque based on a jerk equal to zero, and in the sixth stage, the target motor increases the torque to the target torque based on a jerk less than zero;

[0033] The seventh operating scenario is a scenario where the current torque is negative, the current speed is positive, and the target torque is positive; the eighth operating scenario is a scenario where the current torque is negative, the current speed is negative, and the target torque is positive.

[0034] In a second aspect, the present application provides a motor, and the motor is used to execute the control method as in the first aspect.

[0035] In a third aspect, the present application provides a vehicle, and the vehicle includes the motor as in the second aspect.

[0036] Fourthly, the present application provides a computer device, including a memory, a processor, and a computer program stored on the memory, and the processor executes the computer program to implement the steps of the control method in the first aspect above.

[0037] Fifthly, the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the control method in the first aspect above are implemented.

[0038] Sixthly, the present application provides a computer program product, including a computer program, and when the computer program is executed by a processor, the steps of the control method in the first aspect above are implemented.

[0039] The additional aspects and advantages of the present application will be partly given in the following description, partly become obvious from the following description, or be understood through the practice of the present application. Description of the Drawings

[0040] The above and / or additional aspects and advantages of the present application will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, where:

[0041] Figure 1 is one of the flow diagrams of the control method provided by the embodiments of the present application;

[0042] Figure 2 is another flow diagram of the control method provided by the embodiments of the present application;

[0043] Figure 3 is a schematic diagram of the four-quadrant operation of the motor provided by the embodiments of the present application;

[0044] Figure 4 is one of the schematic diagrams of the torque change of the target motor controlled by the operation strategy provided by the embodiments of the present application;

[0045] Figure 5 is another schematic diagram of the torque change of the target motor controlled by the operation strategy provided by the embodiments of the present application;

[0046] Figure 6 is a third schematic diagram of the torque change of the target motor controlled by the operation strategy provided by the embodiments of the present application;

[0047] Figure 7 is a fourth schematic diagram of the torque change of the target motor controlled by the operation strategy provided by the embodiments of the present application;

[0048] Figure 8 is a fifth schematic diagram of the torque change of the target motor controlled by the operation strategy provided by the embodiments of the present application;

[0049] Figure 9It is the sixth schematic diagram showing the change of the target motor torque controlled by the operation strategy provided by the embodiments of the present application;

[0050] Figure 10 It is the schematic structural diagram of the computer device provided by the embodiments of the present application. Detailed implementation manners

[0051] Next, the technical solutions in the embodiments of the present application will be clearly described with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present application.

[0052] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of the same type, and do not limit the number of objects. For example, the first object can be one or more. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / " generally indicates an "or" relationship between the associated objects before and after.

[0053] Next, with reference to the accompanying drawings, the control method, motor, vehicle, device, storage medium, and program product provided by the embodiments of the present application will be described in detail through specific embodiments and their application scenarios.

[0054] Among them, the control method can be applied to a terminal, and specifically can be executed by hardware or software in the terminal.

[0055] The terminal includes, but is not limited to, portable communication devices such as mobile phones or tablet computers having a touch-sensitive surface (for example, a touch screen display and / or a touchpad). It should also be understood that in some embodiments, the terminal may not be a portable communication device, but a desktop computer having a touch-sensitive surface (for example, a touch screen display and / or a touchpad).

[0056] In the following various embodiments, a terminal including a display and a touch-sensitive surface is described. However, it should be understood that the terminal may include one or more other physical user interface devices such as a physical keyboard, a mouse, and a joystick.

[0057] The control method provided by the embodiments of the present application may be executed by an electronic device or a functional module or functional entity in the electronic device that can implement the control method. The electronic devices mentioned in the embodiments of the present application include, but are not limited to, mobile phones, tablet computers, computers, cameras, wearable devices, etc. Hereinafter, the control method provided by the embodiments of the present application will be described by taking the electronic device as the execution subject as an example.

[0058] As Figure 1 shown, the control method includes: step 110 and step 120.

[0059] Step 110: Obtain the current torque, current speed of the target motor, and the target torque for the target motor.

[0060] In actual execution, the target motor can be an automotive motor in a vehicle or any kind of motor, and the present application does not make specific limitations thereto.

[0061] In actual execution, the current torque can be any value. For example, the current torque can be an integer, a negative number, or zero. The current speed can be any value. For example, the current speed can be an integer, a negative number, or zero. The target torque can be any value. The absolute value of the target torque can be greater than the absolute value of the current torque, and the absolute value of the target torque can also be less than the absolute value of the current torque. The target torque can have the same sign as the current torque, or the target torque can have a different sign from the current torque.

[0062] Step 120: Control the operation of the target motor based on the operation strategy corresponding to the target operation scenario; the target operation scenario is determined based on the current torque, current speed, and target torque.

[0063] In some embodiments, the operation of the target motor can be divided into four situations: forward drive, forward feedback, reverse drive, and reverse feedback according to the current torque and current speed. The target operation scenario can be a scenario representing that the target motor maintains any one of forward drive, forward feedback, reverse drive, or reverse feedback, or a scenario of changing from any one of forward drive, forward feedback, reverse drive, or reverse feedback to the remaining situations.

[0064] In actual execution, the target operation scenario can be determined based on the current torque, current speed, and target torque, and the operation of the target motor can be controlled based on the operation strategy corresponding to the target operation scenario.

[0065] In actual execution, the operation strategy corresponding to the target operation scenario may be an operation strategy pre-formulated for the target operation scenario, and the operation strategy corresponding to the target operation scenario can be used to instruct the target motor to increase or decrease from the current torque to the target torque in the target operation scenario. The target operation strategy can be used to indicate the increase or decrease of torque, and can also be used to calibrate the acceleration and / or jerk during the increase or decrease of torque. The operation strategy can be a torque change curve, a data table, discrete points, a bar chart, a histogram, or any theoretically feasible form, and the present application does not make specific limitations thereon.

[0066] According to the control method of the embodiment of the present application, by obtaining the current torque, current speed of the target motor, and the target torque for the target motor; based on the operation strategy corresponding to the target operation scenario determined according to the current torque, current speed, and target torque, controlling the operation of the target motor, so that the operation process of the target motor is controlled by the operation strategy corresponding to the target operation scenario, which is more in line with the target operation scenario, to avoid adverse reactions such as vehicle jitter and abnormal noise generated when the target motor operates based on an operation strategy contrary to the target operation scenario.

[0067] In some embodiments, the target operation scenario can be determined based on the current torque, current speed, and target torque; the operation strategy can be determined based on the target operation scenario, current torque, and target torque; and the operation of the target motor can be controlled based on the operation strategy.

[0068] In actual execution, the target operation scenario can be determined based on the positive and negative attributes of the current torque, current speed, and target torque.

[0069] In actual execution, after determining the target operation scenario, for the target operation scenario, an operation strategy for controlling the target motor to increase or decrease from the current torque to the target torque in the target operation scenario can be determined.

[0070] In some embodiments, the operation strategy may include the acceleration and / or jerk during the increase or decrease of torque. After determining the operation strategy corresponding to the target operation scenario, the torque of the target motor can be controlled to increase or decrease to the target torque based on the acceleration and / or jerk of the torque increase or decrease in the operation strategy.

[0071] In some embodiments, the operation strategy can be determined based on the following formula:

[0072] T(t) = T(t - 1)+ΔT(t);

[0073] ΔT(t) = A(t)*t;

[0074] A(t) = A0 + a aec *t;

[0075] Wherein, T(t) is the current torque, T(t - 1) is the torque in the previous unit time, t is the unit time, ΔT(t) is the torque increment in the unit time, A0 is the initial acceleration, and a aec is the jerk, and A(t) is the acceleration.

[0076] In some embodiments, the operation strategy may include an operation strategy for controlling the torque of the target motor to rise or fall to the target torque in multiple stages.

[0077] According to the control method of the embodiments of the present application, by obtaining the current torque, the current speed of the target motor, and the target torque for the target motor; based on the current torque, the current speed, and the target torque, determining the target operation scenario; based on the target operation scenario, the current torque, and the target torque, determining the operation strategy; and based on the operation strategy, controlling the operation of the target motor, so that the operation process of the target motor is controlled by the operation strategy corresponding to the target operation scenario, which is more in line with the target operation scenario, to avoid adverse reactions such as vehicle jitter, abnormal noise, and poor ride comfort when the target motor operates based on an operation strategy contrary to the target operation scenario.

[0078] In some embodiments, when the current torque and the target torque have the same sign, the target operation scenario may be determined as the first type of scenario; when the current torque and the target torque have different signs, the target operation scenario may be determined as the second type of scenario.

[0079] In actual execution, when the current torque and the target torque are both positive or negative numbers, the target operation scenario may be determined as the first type of scenario. The first type of operation scenario may be an operation scenario indicating that the target motor increases or decreases the torque without changing the sign of the torque to reach the target torque.

[0080] In actual execution, when the current torque is positive and the target torque is negative, or when the current torque is negative and the target torque is positive, the target operation scenario may be determined as the second type of scenario. The first type of operation scenario may be an operation scenario indicating that the target motor changes the sign of the torque and then increases or decreases the torque to pass through zero torque and then reach the target torque.

[0081] In some embodiments, when the current torque is positive, the current rotational speed is positive, and the target torque is positive, the target operating scenario can be determined as the first operating scenario; when the current torque is positive, the current rotational speed is negative, and the target torque is positive, the target operating scenario can be determined as the second operating scenario; when the current torque is negative, the current rotational speed is negative, and the target torque is negative, the target operating scenario can be determined as the third operating scenario; when the current torque is negative, the current rotational speed is positive, and the target torque is negative, the target operating scenario can be determined as the fourth operating scenario; when the current torque is positive, the current rotational speed is positive, and the target torque is negative, the target operating scenario can be determined as the fifth operating scenario; when the current torque is positive, the current rotational speed is negative, and the target torque is negative, the target operating scenario can be determined as the sixth operating scenario; when the current torque is negative, the current rotational speed is positive, and the target torque is positive, the target operating scenario can be determined as the seventh operating scenario; when the current torque is negative, the current rotational speed is negative, and the target torque is positive, the target operating scenario can be determined as the eighth operating scenario.

[0082] In some embodiments, when the current torque is positive and the current rotational speed is positive, it can be determined that the target motor is currently operating in the forward drive situation, and when the obtained target torque is positive, the target operating scenario can be determined as the first operating scenario. The first operating scenario can be the operating scenario where the target motor remains operating in the forward drive situation.

[0083] In some embodiments, when the current torque is positive and the current rotational speed is negative, it can be determined that the target motor is currently operating in the reverse feedback situation, and when the obtained target torque is positive, the target operating scenario can be determined as the second operating scenario. The second operating scenario can be the operating scenario where the target motor remains operating in the reverse feedback situation.

[0084] In some embodiments, when the current torque is negative and the current rotational speed is negative, it can be determined that the target motor is currently operating in the reverse drive situation, and when the obtained target torque is negative, the target operating scenario can be determined as the third operating scenario. The third operating scenario can be the operating scenario where the target motor remains operating in the reverse drive situation.

[0085] In some embodiments, when the current torque is negative and the current rotational speed is positive, it can be determined that the target motor is currently operating in the forward feedback situation, and when the obtained target torque is negative, the target operating scenario can be determined as the fourth operating scenario. The fourth operating scenario can be the operating scenario where the target motor remains operating in the forward feedback situation.

[0086] In some embodiments, when the current torque is positive and the current rotational speed is positive, it can be determined that the target motor is currently operating in the forward driving scenario. And when the obtained target torque is negative, it can be determined that the target operating scenario is the fifth operating scenario, and the fifth operating scenario can be the operating scenario where the target motor transitions from the forward driving scenario to the forward feedback scenario.

[0087] In some embodiments, when the current torque is negative and the current rotational speed is positive, it can be determined that the target motor is currently operating in the forward feedback scenario. And when the obtained target torque is positive, it can be determined that the target operating scenario is the seventh operating scenario, and the seventh operating scenario can be the operating scenario where the target motor transitions from the forward feedback scenario to the forward driving scenario.

[0088] In some embodiments, when the current torque is positive and the current rotational speed is negative, it can be determined that the target motor is currently operating in the reverse feedback scenario. And when the target torque is negative, it can be determined that the target operating scenario is the sixth operating scenario, and the sixth operating scenario can be the operating scenario where the target motor transitions from the reverse feedback scenario to the reverse driving scenario.

[0089] In some embodiments, when the current torque is negative and the current rotational speed is negative, it can be determined that the target motor is currently operating in the reverse driving scenario. And when the target torque is positive, it can be determined that the target operating scenario is the eighth operating scenario, and the eighth operating scenario can be the operating scenario where the target motor transitions from the reverse driving scenario to the reverse feedback scenario.

[0090] According to the control method of the embodiments of the present application, by obtaining the current torque, current rotational speed and target torque of the target motor; determining the target operating scenario based on the current torque, current rotational speed and target torque; determining the operating strategy based on the target operating scenario, current torque and target torque; and controlling the operation of the target motor based on the operating strategy, so that the operation process of the target motor is controlled by the operating strategy corresponding to the target operating scenario, which is more in line with the target operating scenario, to avoid adverse reactions such as vehicle jitter, abnormal noise and poor ride comfort when the target motor operates based on an operating strategy contrary to the target operating scenario.

[0091] In some embodiments, when the target operating scenario is a first type of scenario, the operating strategy can be determined as a first type of operating strategy based on the relationship between the target torque and the current torque; the first type of operating strategy is used to indicate the change law of the target motor torque in each stage, and the adjacent two stages control the change of the target motor torque based on different jerk, and the number of stages is at least 2.

[0092] In actual execution, when the target operating scenario is a first type of scenario, the operating strategy can be determined as a first type of operating strategy based on the magnitude relationship between the target torque and the current torque. The first type of operating strategy can be an operating strategy that instructs the target motor to increase or decrease the torque.

[0093] In actual execution, when the target operating scenario is a first type of scenario, the operating strategy can be determined as a first type of operating strategy that indicates the torque change law of the target motor in at least two stages based on the relationship between the target torque and the current torque. For each adjacent two stages, the torque change of the target motor is controlled based on different jerks. It can be understood that jerk is the acceleration of the acceleration that controls the torque change, and acceleration represents the amplitude of the torque change.

[0094] In some embodiments, the number of stages can be 3. The first type of operating strategy can be used to instruct the target motor to control the torque change of the target motor with different jerks for each adjacent two stages among the 3 stages to reach the target torque.

[0095] In some embodiments, the number of stages can be 4. The first type of operating strategy can be used to instruct the target motor to control the torque change of the target motor with different jerks for each adjacent two stages in the first 3 stages to reach the target torque, and then instruct the target motor to maintain running at the target torque in the 4th stage.

[0096] According to the control method of the embodiments of the present application, by obtaining the current torque, current speed of the target motor, and the target torque for the target motor; determining the target operating scenario based on the current torque, current speed, and target torque; when the target operating scenario is a first type of scenario, determining the operating strategy as a first type of operating strategy based on the relationship between the target torque and the current torque; the first type of operating strategy is used to indicate the torque change law of the target motor in each stage, and for each adjacent two stages, the torque change of the target motor is controlled based on different jerks, so that during the process of controlling the target motor to run based on the operating strategy, the torque increase or decrease of the target motor conforms to the best start and stop of the tram for human riding, and improves and optimizes the problem of motion sickness and nausea caused by riding the tram.

[0097] In some embodiments, when the target operating scenario is a second type of scenario, the operating strategy is determined as a second type of operating strategy based on the signs of the target torque and the current torque; the second type of operating strategy is used to indicate the torque change law of the target motor in each stage, and for each adjacent two stages, the torque change of the target motor is controlled based on different jerks, and the number of stages is at least 3.

[0098] In actual execution, when the target operation scenario is a second - type scenario, based on the signs of the target torque and the current torque (i.e., the positive or negative nature of the target torque and the current torque) and the magnitude relationship between the target torque and the current torque, the operation strategy can be determined as a second - type operation strategy. The second - type operation strategy can be an operation strategy that instructs the target motor to increase or decrease the torque so that the torque changes to zero and then changes to the target torque.

[0099] In some embodiments, the number of stages can be 6. The first - type operation strategy can be used to instruct the target motor to control the change of the target motor torque with different jerk at every two adjacent stages among the 6 stages to reach the target torque.

[0100] According to the control method of the embodiments of the present application, by obtaining the current torque, current speed of the target motor, and the target torque for the target motor; based on the current torque, current speed, and target torque, determining the target operation scenario; when the target operation scenario is a second - type scenario, based on the sign between the target torque and the current torque, determining the operation strategy as a second - type operation strategy; the second - type operation strategy is used to indicate the change rule of the target motor torque at each stage, and the change of the target motor torque at two adjacent stages is controlled with different jerk, so that when controlling the target motor based on the operation strategy during the operation process where the torque passes through zero, the increase or decrease of the target motor torque conforms to the best start - stop of the tram for human riding, and improves and optimizes the problem of motion sickness and nausea caused by riding the tram.

[0101] In some embodiments, the first - type scenario includes a first operation scenario and a second operation scenario; the first - type operation strategy includes a first operation strategy and a second operation strategy; when the target operation scenario is the first operation scenario or the second operation scenario and the target torque is less than the current torque, the first - type operation strategy is determined as the second operation strategy; the second operation strategy is used to instruct the target motor to decrease the torque with a negative jerk in the first stage, decrease the torque with a zero jerk in the second stage, and decrease the torque with a positive jerk in the third stage;

[0102] Among them, the first operation scenario is a scenario where the current torque is positive, the current speed is positive, and the target torque is positive; the second operation scenario is a scenario where the current torque is positive, the current speed is negative, and the target torque is positive.

[0103] In some embodiments, when the target operating scenario is the first operating scenario or the second operating scenario and the target torque is greater than the current torque, the operating strategy is determined to be the first operating strategy; the first operating strategy includes a first stage, a second stage, and a third stage; the first stage of the first operating strategy is used to instruct the target motor to execute a torque increase acceleration greater than zero, an initial torque acceleration equal to zero, and the torque acceleration increases to a first acceleration; the second stage of the first operating strategy is used to instruct the target motor to execute a torque increase acceleration equal to zero, an initial torque acceleration and a torque acceleration equal to the first acceleration; the third stage of the first operating strategy is used to instruct the target motor to execute a torque increase acceleration less than zero, an initial torque acceleration equal to the first acceleration, and the torque acceleration decreases to zero; the first acceleration is greater than zero; when the target operating scenario is the first operating scenario or the second operating scenario and the target torque is less than the current torque, the operating strategy is determined to be the second operating strategy; the second operating strategy includes a first stage, a second stage, and a third stage; the first stage of the second operating strategy is used to instruct the target motor to execute a torque increase acceleration less than zero, an initial torque acceleration equal to zero, and the torque acceleration is less than zero and decreases to a second acceleration; the second stage of the second operating strategy is used to instruct the target motor to execute a torque increase acceleration equal to zero, an initial torque acceleration and a torque acceleration equal to the second acceleration; the second stage of the second operating strategy is used to instruct the target motor to execute a torque increase acceleration greater than zero, an initial torque acceleration equal to the second acceleration, and the torque acceleration increases to zero; the second acceleration is less than zero.

[0104] In actual execution, when the target operating scenario is the first operating scenario and the target torque is greater than the current torque, the first operating strategy for instructing the torque to increase to the target torque can be determined.

[0105] In some embodiments, when the current torque is positive, the current rotational speed is positive, the target torque is positive, and the target torque is greater than the current torque, the operating strategy is determined to be the first operating strategy; the first operating strategy includes a first stage, a second stage, and a third stage; the first stage of the first operating strategy is used to instruct the target motor to perform a torque jerk greater than zero, an initial torque acceleration equal to zero, and the torque acceleration increases to a first acceleration, where the first acceleration is greater than zero. The torque jerk can be a fixed value greater than zero. The torque acceleration increases from the initial torque acceleration (zero) to the first acceleration based on the torque jerk. The torque increases based on the torque acceleration in the first stage. The second stage of the first operating strategy is used to instruct the target motor to perform a torque jerk equal to zero, and the initial torque acceleration and the torque acceleration are equal to the first acceleration. With a torque jerk of zero, the torque acceleration is controlled to be a fixed value, and the first acceleration is used as the initial torque acceleration and the torque acceleration. The torque increases based on the torque acceleration in the second stage. Subsequently, the third stage of the first operating strategy is used to instruct the target motor to perform a torque jerk less than zero, the initial torque acceleration is equal to the first acceleration, and the torque acceleration decreases to zero. The torque jerk can be a fixed value less than zero. The torque acceleration decreases from the initial torque acceleration (the first acceleration) to zero based on the torque jerk. The torque increases based on the torque acceleration in the third stage until the torque increases to the target torque.

[0106] In actual execution, when the target operating scenario is the second operating scenario and the target torque is greater than the current torque, the first operating strategy for instructing the torque to increase to the target torque can be determined.

[0107] In some embodiments, when the current torque is positive, the current rotational speed is negative, the target torque is positive and the target torque is greater than the current torque, the operating strategy is determined to be the first operating strategy; the first operating strategy includes a first stage, a second stage and a third stage; the first stage of the first operating strategy is used to instruct the target motor to perform torque jerk greater than zero, the initial torque acceleration is equal to zero and the torque acceleration increases to a first acceleration, and the first acceleration is greater than zero. The torque jerk can be a fixed value greater than zero. The torque acceleration increases from the initial torque acceleration (zero) to the first acceleration based on the torque jerk. The torque increases based on the torque acceleration in the first stage. The second stage of the first operating strategy is used to instruct the target motor to perform torque jerk equal to zero, and the initial torque acceleration and the torque acceleration are equal to the first acceleration. With zero as the torque jerk, the torque acceleration is controlled to be a fixed value, and the first acceleration is used as the initial torque acceleration and the torque acceleration. The torque increases based on the torque acceleration in the second stage. Thereafter, the third stage of the first operating strategy is used to instruct the target motor to perform torque jerk less than zero, the initial torque acceleration is equal to the first acceleration and the torque acceleration decreases to zero. The torque jerk can be a fixed value less than zero. The torque acceleration decreases from the initial torque acceleration (the first acceleration) to zero based on the torque jerk. The torque increases based on the torque acceleration in the third stage until the torque increases to the target torque.

[0108] In actual execution, when the target operating scenario is the first operating scenario and the target torque is less than the current torque, a second operating strategy for instructing the torque to decrease to the target torque can be determined.

[0109] In some embodiments, when the current torque is positive, the current rotational speed is positive, the target torque is positive and the target torque is less than the current torque, the operating strategy is determined to be the second operating strategy; the second operating strategy includes a first stage, a second stage and a third stage; the first stage of the second operating strategy is used to instruct the target motor to execute that the torque acceleration is less than zero, the initial torque acceleration is equal to zero and the torque acceleration is less than zero and decreases to a second acceleration, and the second acceleration is less than zero. The torque acceleration can be a fixed value less than zero. The torque acceleration decreases from the initial torque acceleration (zero) to the second acceleration based on the torque acceleration. The torque decreases based on the torque acceleration in the first stage. The second stage of the second operating strategy is used to instruct the target motor to execute that the torque acceleration is equal to zero, and the initial torque acceleration and the torque acceleration are equal to the second acceleration. With zero as the torque acceleration, the torque acceleration is controlled to be a fixed value, and the second acceleration is used as the initial torque acceleration and the torque acceleration. The torque decreases based on the torque acceleration in the second stage. After that, the third stage of the second operating strategy is used to instruct the target motor to execute that the torque acceleration is greater than zero, the initial torque acceleration is equal to the second acceleration and the torque acceleration increases to zero. The torque acceleration can be a fixed value greater than zero. The torque acceleration increases from the initial torque acceleration (the second acceleration) to zero based on the torque acceleration. The torque decreases based on the torque acceleration in the third stage until the torque decreases to the target torque.

[0110] In actual execution, when the target operating scenario is the second operating scenario and the target torque is less than the current torque, the second operating strategy for instructing the torque to decrease to the target torque can be determined.

[0111] In some embodiments, when the current torque is positive, the current speed is negative, the target torque is positive and the target torque is less than the current torque, the operating strategy is determined to be the second operating strategy; the second operating strategy includes a first stage, a second stage and a third stage; the first stage of the second operating strategy is used to instruct the target motor to execute a torque jerk less than zero, an initial torque acceleration equal to zero, and a torque acceleration less than zero and decreasing to a second acceleration, where the second acceleration is less than zero. The torque jerk can be a fixed value less than zero. The torque acceleration decreases from the initial torque acceleration (zero) to the second acceleration based on the torque jerk. The torque decreases based on the torque acceleration in the first stage. The second stage of the second operating strategy is used to instruct the target motor to execute a torque jerk equal to zero, an initial torque acceleration and a torque acceleration equal to the second acceleration. With zero as the torque jerk, the torque acceleration is controlled to be a fixed value, and the second acceleration is used as the initial torque acceleration and the torque acceleration. The torque decreases based on the torque acceleration in the second stage. The third stage of the second operating strategy is used to instruct the target motor to execute a torque jerk greater than zero, an initial torque acceleration equal to the second acceleration, and the torque acceleration increasing to zero. The torque jerk can be a fixed value greater than zero. The torque acceleration increases from the initial torque acceleration (the second acceleration) to zero based on the torque jerk. The torque decreases based on the torque acceleration in the third stage until the torque decreases to the target torque.

[0112] According to the control method of the embodiments of the present application, by obtaining the current torque, the current speed of the target motor, and the target torque for the target motor; determining the target operating scenario based on the current torque, the current speed, and the target torque; determining an operating strategy including torque jerk and torque acceleration based on the target operating scenario, the current torque, and the target torque; and controlling the operation of the target motor based on the torque jerk and the torque acceleration in the operating strategy, so that the amplitude of the torque change of the target motor is controlled by the operating strategy, avoiding the situation that the amplitude of the torque change per unit time of the target motor is too large, causing the vehicle to start or stop suddenly, and optimizing the riding experience.

[0113] In some embodiments, the first type of scenario further includes a third operating scenario and a fourth operating scenario; the first type of operating strategy further includes a third operating strategy and a fourth operating strategy; when the target operating scenario is the third operating scenario or the fourth operating scenario, and the target torque is less than the current torque, the operating strategy is determined to be the third operating strategy; the third operating strategy is used to instruct the target motor to reduce the torque based on a jerk less than zero in the first stage, reduce the torque based on a jerk equal to zero in the second stage, and reduce the torque based on a jerk greater than zero in the third stage;

[0114] When the target operating scenario is the third operating scenario or the fourth operating scenario, and the target torque is greater than the current torque, determine that the operating strategy is the fourth operating strategy; the fourth operating strategy is used to indicate that in the first stage, the target motor increases the torque based on a jerk greater than zero, in the second stage, the target motor increases the torque based on a jerk equal to zero, and in the third stage, the target motor increases the torque based on a jerk less than zero;

[0115] wherein, the third operating scenario is a scenario where the current torque is negative, the current speed is negative, and the target torque is negative; the fourth operating scenario is a scenario where the current torque is negative, the current speed is positive, and the target torque is negative.

[0116] In some embodiments, when the target operating scenario is the third operating scenario or the fourth operating scenario, and the target torque is less than the current torque, determine that the operating strategy is the third operating strategy; the third operating strategy includes a first stage, a second stage, and a third stage; the first stage of the third operating strategy is used to indicate that the target motor performs a torque jerk less than zero, an initial torque acceleration equal to zero, and the torque acceleration decreases to a third acceleration; the second stage of the third operating strategy is used to indicate that the target motor performs a torque jerk equal to zero, an initial torque acceleration and a torque acceleration equal to the third acceleration; the third stage of the third operating strategy is used to indicate that the target motor performs a torque jerk greater than zero, an initial torque acceleration equal to the third acceleration, and the torque acceleration increases to zero; the third acceleration is less than zero; when the target operating scenario is the third operating scenario or the fourth operating scenario, and the target torque is greater than the current torque, determine that the operating strategy is the fourth operating strategy; the fourth operating strategy includes a first stage, a second stage, and a third stage; the first stage of the fourth operating strategy is used to indicate that the target motor performs a torque jerk greater than zero, an initial torque acceleration equal to zero, and the torque acceleration increases to a fourth acceleration; the second stage of the fourth operating strategy is used to indicate that the target motor performs a torque jerk equal to zero, an initial torque acceleration and a torque acceleration equal to the fourth acceleration; the third stage of the fourth operating strategy is used to indicate that the target motor performs a torque jerk less than zero, an initial torque acceleration equal to the fourth acceleration, and the torque acceleration decreases to zero; the fourth acceleration is greater than zero.

[0117] In actual execution, when the target operating scenario is the third operating scenario and the target torque is less than the current torque, the third operating strategy for indicating that the torque decreases to the target torque can be determined.

[0118] In some embodiments, when the current torque is negative, the current rotational speed is negative, the target torque is negative, and the target torque is less than the current torque, the operating strategy is determined to be the third operating strategy; the third operating strategy includes a first stage, a second stage, and a third stage; the first stage of the third operating strategy is used to instruct the target motor to execute a torque jerk less than zero, an initial torque acceleration equal to zero, and a torque acceleration equal to zero and the torque acceleration decreases to a third acceleration, and the third acceleration is less than zero. The torque jerk can be a fixed value less than zero. The torque acceleration decreases from the initial torque acceleration (zero) to the third acceleration based on the torque jerk. The torque decreases based on the torque acceleration in the first stage. The second stage of the third operating strategy is used to instruct the target motor to execute a torque jerk equal to zero, an initial torque acceleration and a torque acceleration equal to the third acceleration. With zero as the torque jerk, the torque acceleration is controlled to be a fixed value, and the third acceleration is used as the initial torque acceleration and the torque acceleration. The torque decreases based on the torque acceleration in the second stage. The third stage of the third operating strategy is used to instruct the target motor to execute a torque jerk greater than zero, an initial torque acceleration equal to the second acceleration, and the torque acceleration increases to zero. The torque jerk can be a fixed value greater than zero. The torque acceleration increases from the initial torque acceleration (the third acceleration) to zero based on the torque jerk. The torque decreases based on the torque acceleration in the third stage until the torque decreases to the target torque.

[0119] In actual execution, when the target operating scenario is the fourth operating scenario and the target torque is less than the current torque, the third operating strategy for instructing the torque to decrease to the target torque can be determined.

[0120] In some embodiments, when the current torque is negative, the current rotational speed is positive, the target torque is negative and the target torque is less than the current torque, the operating strategy is determined to be the third operating strategy; the third operating strategy includes a first stage, a second stage and a third stage; the first stage of the third operating strategy is used to instruct the target motor to execute a torque jerk less than zero, an initial torque acceleration equal to zero and a torque acceleration equal to zero and the torque acceleration decreases to a third acceleration, and the third acceleration is less than zero. The torque jerk can be a fixed value less than zero. The torque acceleration decreases from the initial torque acceleration (zero) to the third acceleration based on the torque jerk. The torque decreases based on the torque acceleration in the first stage. The second stage of the third operating strategy is used to instruct the target motor to execute a torque jerk equal to zero, an initial torque acceleration and a torque acceleration equal to the third acceleration. With zero as the torque jerk, the torque acceleration is controlled to be a fixed value, and the third acceleration is used as the initial torque acceleration and the torque acceleration. The torque decreases based on the torque acceleration in the second stage. The third stage of the third operating strategy is used to instruct the target motor to execute a torque jerk greater than zero, an initial torque acceleration equal to the second acceleration and the torque acceleration increases to zero. The torque jerk can be a fixed value greater than zero. The torque acceleration increases from the initial torque acceleration (the third acceleration) to zero based on the torque jerk. The torque decreases based on the torque acceleration in the third stage until the torque decreases to the target torque.

[0121] In actual execution, when the target operating scenario is the third operating scenario and the target torque is greater than the current torque, a fourth operating strategy for instructing the torque to increase to the target torque can be determined.

[0122] In some embodiments, when the current torque is negative, the current rotational speed is negative, the target torque is negative and the target torque is greater than the current torque, the operating strategy is determined to be the fourth operating strategy; the fourth operating strategy includes a first stage, a second stage and a third stage; the first stage of the fourth operating strategy is used to instruct the target motor to execute a torque jerk greater than zero, an initial torque acceleration equal to zero and the torque acceleration increases to a fourth acceleration, and the fourth acceleration is greater than zero. The torque jerk can be a fixed value greater than zero. The torque acceleration increases from the initial torque acceleration (zero) to the fourth acceleration based on the torque jerk. The torque increases based on the torque acceleration in the first stage. The second stage of the fourth operating strategy is used to instruct the target motor to execute a torque jerk equal to zero, and the initial torque acceleration and the torque acceleration are equal to the fourth acceleration. With zero as the torque jerk, the torque acceleration is controlled to be a fixed value, and the fourth acceleration is used as the initial torque acceleration and the torque acceleration. The torque increases based on the torque acceleration in the second stage. The third stage of the fourth operating strategy is used to instruct the target motor to execute a torque jerk less than zero, the initial torque acceleration is equal to the fourth acceleration and the torque acceleration decreases to zero. The torque jerk can be a fixed value less than zero. The torque acceleration decreases from the initial torque acceleration (the fourth acceleration) to zero based on the torque jerk. The torque increases based on the torque acceleration in the third stage until the torque increases to the target torque.

[0123] In actual execution, when the target operating scenario is the fourth operating scenario and the target torque is greater than the current torque, the fourth operating strategy for instructing the torque to increase to the target torque can be determined.

[0124] In some embodiments, when the current torque is negative, the current rotational speed is positive, the target torque is negative, and the target torque is greater than the current torque, the operating strategy is determined to be the fourth operating strategy; the fourth operating strategy includes a first stage, a second stage, and a third stage; the first stage of the fourth operating strategy is used to instruct the target motor to execute a torque jerk greater than zero, an initial torque acceleration equal to zero, and the torque acceleration increases to a fourth acceleration, where the fourth acceleration is greater than zero. The torque jerk can be a fixed value greater than zero. The torque acceleration increases from the initial torque acceleration (zero) to the fourth acceleration based on the torque jerk. The torque increases based on the torque acceleration in the first stage. The second stage of the fourth operating strategy is used to instruct the target motor to execute a torque jerk equal to zero, and the initial torque acceleration and the torque acceleration are equal to the fourth acceleration. With zero as the torque jerk, the torque acceleration is controlled to be a fixed value, and the fourth acceleration is used as the initial torque acceleration and the torque acceleration. The torque increases based on the torque acceleration in the second stage. The third stage of the fourth operating strategy is used to instruct the target motor to execute a torque jerk less than zero, the initial torque acceleration is equal to the fourth acceleration, and the torque acceleration decreases to zero. The torque jerk can be a fixed value less than zero. The torque acceleration decreases from the initial torque acceleration (the fourth acceleration) to zero based on the torque jerk. The torque increases based on the torque acceleration in the third stage until the torque increases to the target torque.

[0125] According to the control method of the embodiments of the present application, by obtaining the current torque, the current rotational speed of the target motor, and the target torque for the target motor; determining the target operating scenario based on the current torque, the current rotational speed, and the target torque; determining an operating strategy including torque jerk and torque acceleration based on the target operating scenario, the current torque, and the target torque; and controlling the operation of the target motor based on the torque jerk and the torque acceleration in the operating strategy, so that the amplitude of the torque change of the target motor is controlled by the operating strategy, avoiding the situation that the torque change amplitude per unit time of the target motor is too large, causing the vehicle to start or stop suddenly, and optimizing the riding experience.

[0126] In some embodiments, the second type of scenario includes a fifth operating scenario and a sixth operating scenario; the second type of operating strategy includes a fifth operating strategy and a sixth operating strategy;

[0127] When the target operating scenario is the fifth operating scenario or the sixth operating scenario, the torque decreases from the current torque to zero and then from zero to the target torque, the operating strategy is determined to be the fifth operating strategy; the fifth operating strategy is used to indicate that in the first stage, the target motor reduces the torque based on a jerk less than zero, in the second stage, the target motor reduces the torque based on a jerk equal to zero, in the third stage, the target motor reduces the torque based on a jerk greater than zero until the torque decreases to zero, in the fourth stage, the target motor reduces the torque from zero based on a jerk less than zero, in the fifth stage, the target motor reduces the torque based on a jerk equal to zero, and in the sixth stage, the target motor reduces the torque to the target torque based on a jerk greater than zero;

[0128] Among them, the fifth operating scenario is a scenario where the current torque is positive, the current speed is positive, and the target torque is negative; the sixth operating scenario is a scenario where the current torque is positive, the current speed is negative, and the target torque is negative.

[0129] In some embodiments, when the target operating scenario is the fifth operating scenario or the sixth operating scenario, the torque decreases from the current torque to zero and then from zero to the target torque, the operating strategy is determined to be the fifth operating strategy; the fifth operating strategy includes a first stage, a second stage, a third stage, a fourth stage, a fifth stage, and a sixth stage; the first stage of the fifth operating strategy is used to indicate that the target motor executes a torque jerk less than zero, the initial torque acceleration is equal to zero, and the torque acceleration decreases to a fifth acceleration; the second stage of the fifth operating strategy is used to indicate that the target motor executes a torque jerk equal to zero, the initial torque acceleration and the torque acceleration are equal to the fifth acceleration; the third stage of the fifth operating strategy is used to indicate that the target motor executes a torque jerk greater than zero, the initial torque acceleration is equal to the fifth acceleration, and the torque acceleration increases to zero; the fifth acceleration is less than zero; the fourth stage of the fifth operating strategy is used to indicate that the target motor executes a torque jerk less than zero, the initial torque acceleration is equal to zero, and the torque acceleration decreases to a sixth acceleration; the fourth stage of the fifth operating strategy is used to indicate that the target motor executes a torque jerk equal to zero, the initial torque acceleration and the torque acceleration are equal to the sixth acceleration; the sixth stage of the fifth operating strategy is used to indicate that the target motor executes a torque jerk greater than zero, the initial torque acceleration is equal to the sixth acceleration, and the torque acceleration increases to zero; the sixth acceleration is less than zero.

[0130] In actual execution, when the target operating scenario is the fifth operating scenario, the torque decreases from the current torque to zero and then from zero to the target torque, the fifth operating strategy can be determined.

[0131] In some embodiments, when the current torque is positive, the current rotational speed is positive, the target torque is negative, the torque decreases from the current torque to zero and then from zero to the target torque, the operating strategy is determined to be the fifth operating strategy; the fifth operating strategy includes a first stage, a second stage, a third stage, a fourth stage, a fifth stage, and a sixth stage; the first stage of the fifth operating strategy is used to instruct the target motor to execute a torque jerk that is less than zero, an initial torque acceleration that is equal to zero, and the torque acceleration decreases to a fifth acceleration, where the fifth acceleration is less than zero. The torque jerk can be a fixed value less than zero. The torque acceleration decreases from the initial torque acceleration (zero) to the fifth acceleration based on the torque jerk. The torque decreases based on the torque acceleration in the first stage. The second stage of the fifth operating strategy is used to instruct the target motor to execute a torque jerk that is equal to zero, an initial torque acceleration and a torque acceleration that are equal to the fifth acceleration. With zero as the torque jerk, the torque acceleration is controlled to be a fixed value, and the fifth acceleration is used as the initial torque acceleration and the torque acceleration. The torque decreases based on the torque acceleration in the second stage. The third stage of the fifth operating strategy is used to instruct the target motor to execute a torque jerk that is greater than zero, an initial torque acceleration that is equal to the fifth acceleration, and the torque acceleration increases to zero. The torque jerk can be a fixed value greater than zero. The torque acceleration increases from the initial torque acceleration (the fifth acceleration) to zero based on the torque jerk. The torque decreases based on the torque acceleration in the third stage until the torque decreases to zero. The fourth stage of the fifth operating strategy is used to instruct the target motor to execute a torque jerk that is less than zero, an initial torque acceleration that is equal to zero, and the torque acceleration decreases to a sixth acceleration, where the sixth acceleration is less than zero. The torque jerk can be a fixed value less than zero. The torque acceleration decreases from the initial torque acceleration (zero) to the sixth acceleration based on the torque jerk. The torque decreases based on the torque acceleration in the fourth stage. The fifth stage of the fifth operating strategy is used to instruct the target motor to execute a torque jerk that is equal to zero, an initial torque acceleration and a torque acceleration that are equal to the sixth acceleration. With zero as the torque jerk, the torque acceleration is controlled to be a fixed value, and the sixth acceleration is used as the initial torque acceleration and the torque acceleration. The torque decreases based on the torque acceleration in the fifth stage. The sixth stage of the fifth operating strategy is used to instruct the target motor to execute a torque jerk that is greater than zero, an initial torque acceleration that is equal to the sixth acceleration, and the torque acceleration increases to zero. The torque jerk can be a fixed value greater than zero. The torque acceleration increases from the initial torque acceleration (the sixth acceleration) to zero based on the torque jerk. The torque decreases based on the torque acceleration in the third stage until the torque decreases to the target torque.

[0132] In actual execution, when the target operating scenario is the sixth operating scenario and the torque decreases from the current torque to zero, an operating strategy for instructing the torque to decrease to zero can be determined.

[0133] In some embodiments, when the current torque is positive, the current rotational speed is negative, the target torque is negative, the torque decreases from the current torque to zero and then from zero to the target torque, the operating strategy is determined to be the fifth operating strategy; the fifth operating strategy includes a first stage, a second stage, a third stage, a fourth stage, a fifth stage, and a sixth stage; the first stage of the fifth operating strategy is used to instruct the target motor to execute a torque jerk that is less than zero, an initial torque acceleration that is equal to zero, and the torque acceleration decreases to a fifth acceleration, where the fifth acceleration is less than zero. The torque jerk can be a fixed value less than zero. The torque acceleration decreases from the initial torque acceleration (zero) to the fifth acceleration based on the torque jerk. The torque decreases based on the torque acceleration in the first stage. The second stage of the fifth operating strategy is used to instruct the target motor to execute a torque jerk that is equal to zero, an initial torque acceleration and a torque acceleration that are equal to the fifth acceleration. With zero as the torque jerk, the torque acceleration is controlled to be a fixed value, and the fifth acceleration is used as the initial torque acceleration and the torque acceleration. The torque decreases based on the torque acceleration in the second stage. The third stage of the fifth operating strategy is used to instruct the target motor to execute a torque jerk that is greater than zero, an initial torque acceleration that is equal to the fifth acceleration, and the torque acceleration increases to zero. The torque jerk can be a fixed value greater than zero. The torque acceleration increases from the initial torque acceleration (the fifth acceleration) to zero based on the torque jerk. The torque decreases based on the torque acceleration in the third stage until the torque decreases to zero. The fourth stage of the fifth operating strategy is used to instruct the target motor to execute a torque jerk that is less than zero, an initial torque acceleration that is equal to zero, and the torque acceleration decreases to a sixth acceleration, where the sixth acceleration is less than zero. The torque jerk can be a fixed value less than zero. The torque acceleration decreases from the initial torque acceleration (zero) to the sixth acceleration based on the torque jerk. The torque decreases based on the torque acceleration in the fourth stage. The fifth stage of the fifth operating strategy is used to instruct the target motor to execute a torque jerk that is equal to zero, an initial torque acceleration and a torque acceleration that are equal to the sixth acceleration. With zero as the torque jerk, the torque acceleration is controlled to be a fixed value, and the sixth acceleration is used as the initial torque acceleration and the torque acceleration. The torque decreases based on the torque acceleration in the fifth stage. The sixth stage of the fifth operating strategy is used to instruct the target motor to execute a torque jerk that is greater than zero, an initial torque acceleration that is equal to the sixth acceleration, and the torque acceleration increases to zero. The torque jerk can be a fixed value greater than zero. The torque acceleration increases from the initial torque acceleration (the sixth acceleration) to zero based on the torque jerk. The torque decreases based on the torque acceleration in the third stage until the torque decreases to the target torque.

[0134] According to the control method of the embodiments of the present application, by obtaining the current torque, current speed of the target motor, and the target torque for the target motor; based on the current torque, current speed, and target torque, determining the target operating scenario; based on the target operating scenario, current torque, and target torque, determining an operating strategy including the jerk of torque and the acceleration of torque; based on the jerk of torque and the acceleration of torque in the operating strategy, controlling the operation of the target motor, so that the amplitude of the torque change of the target motor is controlled by the operating strategy, avoiding the situation that the amplitude of the torque change per unit time of the target motor is too large, causing the vehicle to start or stop suddenly, and optimizing the riding experience. At the same time, determine the operating strategy for the target motor to continue to increase or decrease after the torque increases or decreases to zero in the operating scenario of switching between operating situations, so as to eliminate the problems of abnormal noise, vibration, and poor ride comfort of the vehicle caused by the torque zero-crossing phenomenon.

[0135] In some embodiments, the second type of scenario further includes a seventh operating scenario and an eighth operating scenario; the second type of operating strategy includes a sixth operating strategy;

[0136] When the target operating scenario is the seventh operating scenario or the eighth operating scenario, and the torque increases from the current torque to zero and then increases from zero to the target torque, determine the operating strategy as the sixth operating strategy; the sixth operating strategy is used to indicate that in the first stage, control the target motor to increase torque based on a jerk greater than zero, in the second stage, control the target motor to increase torque based on a jerk equal to zero, in the third stage, control the target motor to increase torque based on a jerk less than zero until the torque increases to zero, in the fourth stage, control the target motor to increase torque from zero based on a jerk greater than zero, in the fifth stage, control the target motor to increase torque based on a jerk equal to zero, and in the sixth stage, control the target motor to increase torque to the target torque based on a jerk less than zero;

[0137] The seventh operating scenario is a scenario where the current torque is negative, the current speed is positive, and the target torque is positive; the eighth operating scenario is a scenario where the current torque is negative, the current speed is negative, and the target torque is positive.

[0138] In some embodiments, when the target operating scenario is the seventh operating scenario or the eighth operating scenario, and the torque increases from the current torque to zero and then increases from zero to the target torque, the operating strategy is determined to be the sixth operating strategy; the sixth operating strategy includes a first stage, a second stage, a third stage, a fourth stage, a fifth stage, and a sixth stage; the first stage of the sixth operating strategy is used to instruct the target motor to execute torque addition with an acceleration greater than zero, an initial torque acceleration equal to zero, and the torque acceleration increasing to a seventh acceleration; the second stage of the sixth operating strategy is used to instruct the target motor to execute torque addition with an acceleration equal to zero, an initial torque acceleration and a torque acceleration equal to the seventh acceleration; the third stage of the sixth operating strategy is used to instruct the target motor to execute torque addition with an acceleration less than zero, an initial torque acceleration equal to the seventh acceleration, and the torque acceleration decreasing to zero; the seventh acceleration is greater than zero; the fourth stage of the sixth operating strategy is used to instruct the target motor to execute torque addition with an acceleration greater than zero, an initial torque acceleration equal to zero, and the torque acceleration greater than zero and increasing to an eighth acceleration; the fifth stage of the sixth operating strategy is used to instruct the target motor to execute torque addition with an acceleration equal to zero, an initial torque acceleration and a torque acceleration equal to the eighth acceleration; the sixth stage of the sixth operating strategy is used to instruct the target motor to execute torque addition with an acceleration less than zero, an initial torque acceleration equal to the eighth acceleration, and the torque acceleration decreasing to zero; the eighth acceleration is greater than zero.

[0139] In actual execution, when the target operating scenario is the seventh operating scenario, and the torque increases from the current torque to zero and then increases from zero to the target torque, the sixth operating strategy can be determined.

[0140] In some embodiments, when the current torque is negative, the current rotational speed is positive, the target torque is positive, the torque increases from the current torque to zero and then from zero to the target torque, the operating strategy is determined to be the sixth operating strategy; the sixth operating strategy includes a first stage, a second stage, a third stage, a fourth stage, a fifth stage, and a sixth stage; the first stage of the sixth operating strategy is used to instruct the target motor to execute a torque jerk greater than zero, an initial torque acceleration equal to zero, and the torque acceleration increases to a seventh acceleration, where the seventh acceleration is greater than zero. The torque jerk can be a fixed value greater than zero. The torque acceleration increases from the initial torque acceleration (zero) to the seventh acceleration based on the torque jerk. The torque increases based on the torque acceleration in the first stage. The second stage of the sixth operating strategy is used to instruct the target motor to execute a torque jerk equal to zero, an initial torque acceleration and a torque acceleration equal to the seventh acceleration. With zero as the torque jerk, the torque acceleration is controlled to be a fixed value, and the seventh acceleration is used as the initial torque acceleration and the torque acceleration. The torque increases based on the torque acceleration in the second stage. The third stage of the sixth operating strategy is used to instruct the target motor to execute a torque jerk less than zero, an initial torque acceleration equal to the seventh acceleration, and the torque acceleration decreases to zero. The torque jerk can be a fixed value less than zero. The torque acceleration decreases from the initial torque acceleration (the seventh acceleration) to zero based on the torque jerk. The torque increases based on the torque acceleration in the third stage until the torque increases to zero. The fourth stage of the sixth operating strategy is used to instruct the target motor to execute a torque jerk greater than zero, an initial torque acceleration equal to zero, and the torque acceleration increases to an eighth acceleration, where the eighth acceleration is greater than zero. The torque jerk can be a fixed value greater than zero. The torque acceleration increases from the initial torque acceleration (zero) to the eighth acceleration based on the torque jerk. The torque increases based on the torque acceleration in the fourth stage. The fifth stage of the sixth operating strategy is used to instruct the target motor to execute a torque jerk equal to zero, an initial torque acceleration and a torque acceleration equal to the eighth acceleration. With zero as the torque jerk, the torque acceleration is controlled to be a fixed value, and the eighth acceleration is used as the initial torque acceleration and the torque acceleration. The torque increases based on the torque acceleration in the fifth stage. The sixth stage of the sixth operating strategy is used to instruct the target motor to execute a torque jerk less than zero, an initial torque acceleration equal to the eighth acceleration, and the torque acceleration decreases to zero. The torque jerk can be a fixed value less than zero. The torque acceleration decreases from the initial torque acceleration (the eighth acceleration) to zero based on the torque jerk. The torque increases based on the torque acceleration in the sixth stage until the torque increases to the target torque.

[0141] In actual execution, when the target operating scenario is the eighth operating scenario and the torque increases from the current torque to zero and then from zero to the target torque, the sixth operating strategy can be determined.

[0142] In some embodiments, when the current torque is negative, the current rotational speed is negative, the target torque is positive, the torque increases from the current torque to zero and then increases from zero to the target torque, the operating strategy is determined to be the sixth operating strategy; the sixth operating strategy includes a first stage, a second stage, a third stage, a fourth stage, a fifth stage, and a sixth stage; the first stage of the sixth operating strategy is used to instruct the target motor to execute a torque jerk greater than zero, an initial torque acceleration equal to zero, and the torque acceleration increases to a seventh acceleration, where the seventh acceleration is greater than zero. The torque jerk can be a fixed value greater than zero. The torque acceleration increases from the initial torque acceleration (zero) to the seventh acceleration based on the torque jerk. The torque increases based on the torque acceleration in the first stage. The second stage of the sixth operating strategy is used to instruct the target motor to execute a torque jerk equal to zero, an initial torque acceleration and a torque acceleration equal to the seventh acceleration. With zero as the torque jerk, the torque acceleration is controlled to be a fixed value, and the seventh acceleration is used as the initial torque acceleration and the torque acceleration. The torque increases based on the torque acceleration in the second stage. The third stage of the sixth operating strategy is used to instruct the target motor to execute a torque jerk less than zero, an initial torque acceleration equal to the seventh acceleration, and the torque acceleration decreases to zero. The torque jerk can be a fixed value less than zero. The torque acceleration decreases from the initial torque acceleration (the seventh acceleration) to zero based on the torque jerk. The torque increases based on the torque acceleration in the third stage until the torque increases to zero. The fourth stage of the sixth operating strategy is used to instruct the target motor to execute a torque jerk greater than zero, an initial torque acceleration equal to zero, and the torque acceleration increases to an eighth acceleration, where the eighth acceleration is greater than zero. The torque jerk can be a fixed value greater than zero. The torque acceleration increases from the initial torque acceleration (zero) to the eighth acceleration based on the torque jerk. The torque increases based on the torque acceleration in the fourth stage. The fifth stage of the sixth operating strategy is used to instruct the target motor to execute a torque jerk equal to zero, an initial torque acceleration and a torque acceleration equal to the eighth acceleration. With zero as the torque jerk, the torque acceleration is controlled to be a fixed value, and the eighth acceleration is used as the initial torque acceleration and the torque acceleration. The torque increases based on the torque acceleration in the fifth stage. The sixth stage of the sixth operating strategy is used to instruct the target motor to execute a torque jerk less than zero, an initial torque acceleration equal to the eighth acceleration, and the torque acceleration decreases to zero. The torque jerk can be a fixed value less than zero. The torque acceleration decreases from the initial torque acceleration (the eighth acceleration) to zero based on the torque jerk. The torque increases based on the torque acceleration in the sixth stage until the torque increases to the target torque.

[0143] According to the control method of the embodiments of the present application, by obtaining the current torque, current speed of the target motor, and the target torque for the target motor; based on the current torque, current speed, and target torque, determining the target operating scenario; based on the target operating scenario, current torque, and target torque, determining an operating strategy including the jerk of torque and the acceleration of torque; and controlling the operation of the target motor based on the jerk of torque and the acceleration of torque in the operating strategy, so that the amplitude of the torque change of the target motor is controlled by the operating strategy, avoiding the situation that the amplitude of the torque change per unit time of the target motor is too large, causing the vehicle to start or stop suddenly, and optimizing the riding experience. At the same time, in the operating scenario where the target motor switches between operating conditions, determining an operating strategy in which the torque increases or decreases to zero and then continues to increase or decrease, so as to eliminate problems such as abnormal noise, vibration, and poor ride comfort of the vehicle caused by the torque zero-crossing phenomenon.

[0144] To better understand the control method provided by the embodiments of the present application, the following further elaboration is provided. It should be understood that the following discussion is only exemplary.

[0145] The present application provides a control method, and the specific steps can be as Figure 2 shown:

[0146] Step 210: Obtain the current torque, current speed of the target motor, and the target torque for the target motor.

[0147] In actual implementation, the target motor can be an automotive motor in a vehicle or any kind of motor, and the present application does not make specific limitations on this.

[0148] In actual implementation, the current torque can be any value. For example, the current torque can be an integer, a negative number, or zero. The current speed can be any value. For example, the current speed can be an integer, a negative number, or zero. The target torque can be any value. The absolute value of the target torque can be greater than the absolute value of the current torque, and the absolute value of the target torque can also be less than the absolute value of the current torque. The target torque can have the same sign as the current torque, and the target torque can also have a different sign from the current torque.

[0149] Step 220: Based on the current torque, current speed, and target torque, determine the target operating scenario.

[0150] In actual implementation, the target operating scenario can be determined based on the positive and negative attributes of the current torque, current speed, and target torque.

[0151] In some embodiments, when the current torque is positive, the current speed is positive, and the target torque is positive, the target operating scenario can be determined as the first operating scenario; when the current torque is positive, the current speed is negative, and the target torque is positive, the target operating scenario can be determined as the second operating scenario; when the current torque is negative, the current speed is negative, and the target torque is negative, the target operating scenario can be determined as the third operating scenario; when the current torque is negative, the current speed is positive, and the target torque is negative, the target operating scenario can be determined as the fourth operating scenario; when the current torque is positive, the current speed is positive, and the target torque is negative, the target operating scenario can be determined as the fifth operating scenario; when the current torque is negative, the current speed is positive, and the target torque is positive, the target operating scenario can be determined as the seventh operating scenario; when the current torque is positive, the current speed is negative, and the target torque is negative, the target operating scenario can be determined as the sixth operating scenario; when the current torque is negative, the current speed is negative, and the target torque is positive, the target operating scenario can be determined as the eighth operating scenario.

[0152] In some embodiments, since the torque of the motor has two cases of positive and negative, and the speed of the motor also has two cases of positive and negative, as Figure 3 shown, the operation of the target motor can be divided into four situations: forward driving, forward feedback, reverse driving, and reverse feedback based on the positive and negative attributes of the current torque and current speed of the target motor.

[0153] In some embodiments, when the current torque is positive and the current speed is positive, it can be determined that the target motor is currently operating in the forward driving situation, and when the obtained target torque is positive, the target operating scenario can be determined as the first operating scenario. The first operating scenario can be an operating scenario in which the target motor maintains operation in the forward driving situation.

[0154] In some embodiments, when the current torque is positive and the current speed is negative, it can be determined that the target motor is currently operating in the reverse feedback situation, and when the obtained target torque is positive, the target operating scenario can be determined as the second operating scenario. The second operating scenario can be an operating scenario in which the target motor maintains operation in the reverse feedback situation.

[0155] In some embodiments, when the current torque is negative and the current speed is negative, it can be determined that the target motor is currently operating in the reverse driving situation, and when the obtained target torque is negative, the target operating scenario can be determined as the third operating scenario. The third operating scenario can be an operating scenario in which the target motor maintains operation in the reverse driving situation.

[0156] In some embodiments, when the current torque is negative and the current rotational speed is positive, it can be determined that the target motor is currently operating in the forward feedback scenario. And when the obtained target torque is negative, it can be determined that the target operating scenario is the fourth operating scenario, and the fourth operating scenario can be the operating scenario where the target motor remains operating in the forward feedback scenario.

[0157] In some embodiments, when the current torque is positive and the current rotational speed is positive, it can be determined that the target motor is currently operating in the forward drive scenario. And when the obtained target torque is negative, it can be determined that the target operating scenario is the fifth operating scenario, and the fifth operating scenario can be the operating scenario where the target motor transitions from the forward drive scenario to the forward feedback scenario.

[0158] In some embodiments, when the current torque is negative and the current rotational speed is positive, it can be determined that the target motor is currently operating in the forward feedback scenario. And when the obtained target torque is positive, it can be determined that the target operating scenario is the seventh operating scenario, and the seventh operating scenario can be the operating scenario where the target motor transitions from the forward feedback scenario to the forward drive scenario.

[0159] In some embodiments, when the current torque is positive and the current rotational speed is negative, it can be determined that the target motor is currently operating in the reverse feedback scenario. And when the target torque is negative, it can be determined that the target operating scenario is the sixth operating scenario, and the sixth operating scenario can be the operating scenario where the target motor transitions from the reverse feedback scenario to the reverse drive scenario.

[0160] In some embodiments, when the current torque is negative and the current rotational speed is negative, it can be determined that the target motor is currently operating in the reverse drive scenario. And when the target torque is positive, it can be determined that the target operating scenario is the eighth operating scenario, and the eighth operating scenario can be the operating scenario where the target motor transitions from the reverse drive scenario to the reverse feedback scenario.

[0161] Step 230: Determine an operating strategy based on the target operating scenario, the current torque, and the target torque.

[0162] In actual execution, after determining the target operating scenario, an operating strategy for controlling the target motor to increase or decrease from the current torque to the target torque in the target operating scenario can be determined.

[0163] In some embodiments, the operating strategy may include the acceleration and / or jerk during the increase or decrease of the torque.

[0164] In some embodiments, the operating strategy can be determined based on the following formula:

[0165] T(t) = T(t - 1)+ΔT(t);

[0166] ΔT(t) = A(t) * t;

[0167] A(t) = A0 + a aec * t;

[0168] Wherein, T(t) is the current torque, T(t - 1) is the torque in the previous unit time, t is the unit time, ΔT(t) is the torque increment in the unit time, A0 is the initial acceleration, and a aec is the jerk, and A(t) is the acceleration.

[0169] In actual execution, when the target operation scenario is the first operation scenario and the absolute value of the target torque is greater than the absolute value of the current torque, a running strategy for indicating that the torque increases to the target torque can be determined.

[0170] In some embodiments, as Figure 4 shown, when the current torque is positive, the current rotational speed is positive, the target torque is positive, and the target torque is greater than the current torque, a first running strategy is determined; the first running strategy is used to indicate that the target motor first executes a first stage in which the torque jerk is greater than zero, the initial torque acceleration is equal to zero, and the torque acceleration increases to a first acceleration, and the first acceleration is greater than zero. The torque jerk can be a fixed value greater than zero. The torque acceleration increases from the initial torque acceleration (zero) to the first acceleration based on the torque jerk. The torque increases based on the torque acceleration in the first stage until the torque increases to n1. Secondly, a second stage in which the torque jerk is equal to zero, the initial torque acceleration and the torque acceleration are equal to the first acceleration is determined. With zero as the torque jerk, the torque acceleration is controlled to be a fixed value, and the first acceleration is used as the initial torque acceleration and the torque acceleration. The torque increases based on the torque acceleration in the second stage until the torque increases to n2. After that, a third stage in which the torque jerk is less than zero, the initial torque acceleration is equal to the first acceleration, and the torque acceleration decreases to zero is determined. The torque jerk can be a fixed value less than zero. The torque acceleration decreases from the initial torque acceleration (the first acceleration) to zero based on the torque jerk. The torque increases based on the torque acceleration in the third stage until the torque increases to the target torque.

[0171] In some embodiments, as Figure 4 shown, after the torque of the target motor reaches the target torque, the running state can be maintained with the target torque as the current torque.

[0172] In actual execution, when the target operation scenario is the first operation scenario and the target torque is less than the current torque, a running strategy for indicating that the torque decreases to the target torque can be determined.

[0173] In some embodiments, as Figure 5As shown, when the current torque is positive, the current speed is positive, the target torque is positive and the target torque is less than the current torque, a second operating strategy is determined; the second operating strategy is used to instruct the target motor to first execute a first stage where the torque acceleration is less than zero, the initial torque acceleration is equal to zero and the torque acceleration is less than zero and decreases to a second acceleration, and the second acceleration is less than zero. The torque acceleration can be a fixed value less than zero. The torque acceleration decreases from the initial torque acceleration (zero) to the second acceleration based on the torque acceleration. The torque decreases based on the torque acceleration in the first stage until the torque decreases to n2. Secondly, a second stage is determined where the torque acceleration is equal to zero, and the initial torque acceleration and the torque acceleration are equal to the second acceleration. With zero as the torque acceleration, the torque acceleration is controlled to be a fixed value, and the second acceleration is used as the initial torque acceleration and the torque acceleration. The torque decreases based on the torque acceleration in the second stage until the torque decreases to n1. After that, a third stage is determined where the torque acceleration is greater than zero, the initial torque acceleration is equal to the second acceleration and the torque acceleration increases to zero. The torque acceleration can be a fixed value greater than zero. The torque acceleration increases from the initial torque acceleration (the second acceleration) to zero based on the torque acceleration. The torque decreases based on the torque acceleration in the third stage until the torque decreases to the target torque.

[0174] In actual execution, when the target operating scenario is the second operating scenario and the target torque is greater than the current torque, an operating strategy for instructing the torque to increase to the target torque can be determined.

[0175] In some embodiments, as Figure 4 shown, when the current torque is positive, the current speed is negative, the target torque is positive and the target torque is greater than the current torque, a first operating strategy is determined; the first operating strategy is used to instruct the target motor to first execute a first stage where the torque acceleration is greater than zero, the initial torque acceleration is equal to zero and the torque acceleration increases to a first acceleration, and the first acceleration is greater than zero. The torque acceleration can be a fixed value greater than zero. The torque acceleration increases from the initial torque acceleration (zero) to the first acceleration based on the torque acceleration. The torque increases based on the torque acceleration in the first stage until the torque increases to n1. Secondly, a second stage is determined where the torque acceleration is equal to zero, and the initial torque acceleration and the torque acceleration are equal to the first acceleration. With zero as the torque acceleration, the torque acceleration is controlled to be a fixed value, and the first acceleration is used as the initial torque acceleration and the torque acceleration. The torque increases based on the torque acceleration in the second stage until the torque increases to n2. After that, a third stage is determined where the torque acceleration is less than zero, the initial torque acceleration is equal to the first acceleration and the torque acceleration decreases to zero. The torque acceleration can be a fixed value less than zero. The torque acceleration decreases from the initial torque acceleration (the first acceleration) to zero based on the torque acceleration. The torque increases based on the torque acceleration in the third stage until the torque increases to the target torque.

[0176] In actual execution, when the target operating scenario is the second operating scenario and the target torque is less than the current torque, an operating strategy for indicating that the torque is reduced to the target torque can be determined.

[0177] In some embodiments, as Figure 5 shown, when the current torque is positive, the current speed is negative, the target torque is positive, and the target torque is less than the current torque, a second operating strategy is determined; the second operating strategy is used to indicate that the target motor first executes a first stage in which the torque acceleration is less than zero, the initial torque acceleration is equal to zero, and the torque acceleration is less than zero and decreases to a second acceleration, and the second acceleration is less than zero. The torque jerk can be a fixed value less than zero. The torque acceleration decreases from the initial torque acceleration (zero) to the second acceleration based on the torque jerk. The torque decreases based on the torque acceleration in the first stage until it decreases to n2. Secondly, a second stage in which the torque jerk is equal to zero, the initial torque acceleration and the torque acceleration are equal to the second acceleration is determined. With zero as the torque jerk, the torque acceleration is controlled to be a fixed value, and the second acceleration is used as the initial torque acceleration and the torque acceleration. The torque decreases based on the torque acceleration in the second stage until it decreases to n1. Thereafter, a third stage in which the torque jerk is greater than zero, the initial torque acceleration is equal to the second acceleration, and the torque acceleration increases to zero is determined. The torque jerk can be a fixed value greater than zero. The torque acceleration increases from the initial torque acceleration (the second acceleration) to zero based on the torque jerk. The torque decreases based on the torque acceleration in the third stage until the torque decreases to the target torque.

[0178] In actual execution, when the target operating scenario is the third operating scenario and the target torque is less than the current torque, an operating strategy for indicating that the torque is reduced to the target torque can be determined.

[0179] In some embodiments, as Figure 6As shown, when the current torque is negative, the current rotational speed is negative, the target torque is negative and the target torque is less than the current torque, a third operation strategy is determined; the third operation strategy is used to instruct the target motor to first execute a first stage where the torque jerk is less than zero, the initial torque acceleration is equal to zero and the torque acceleration is equal to zero and the torque acceleration decreases to a third acceleration, and the third acceleration is less than zero. The torque jerk can be a fixed value less than zero. The torque acceleration decreases from the initial torque acceleration (zero) to the third acceleration based on the torque jerk. The torque decreases based on the torque acceleration in the first stage until it decreases to n3. Secondly, a second stage where the torque jerk is equal to zero, the initial torque acceleration and the torque acceleration are equal to the third acceleration is determined. With zero as the torque jerk, the torque acceleration is controlled to be a fixed value, and the third acceleration is used as the initial torque acceleration and the torque acceleration. The torque decreases based on the torque acceleration in the second stage until it decreases to n4. After that, a third stage where the torque jerk is greater than zero, the initial torque acceleration is equal to the second acceleration and the torque acceleration increases to zero is determined. The torque jerk can be a fixed value greater than zero. The torque acceleration increases from the initial torque acceleration (the third acceleration) to zero based on the torque jerk. The torque decreases based on the torque acceleration in the third stage until the torque decreases to the target torque.

[0180] In some embodiments, as Figure 6 shown, after the torque of the target motor reaches the target torque, the operating state can be maintained with the target torque as the current torque.

[0181] In actual execution, when the target operating scenario is the third operating scenario and the target torque is greater than the current torque, an operating strategy for instructing the torque to increase to the target torque can be determined.

[0182] In some embodiments, as Figure 7As shown, when the current torque is negative, the current speed is negative, the target torque is negative and the target torque is greater than the current torque, a fourth operating strategy is determined; the fourth operating strategy is used to instruct the target motor to first execute a first stage where the torque jerk is greater than zero, the initial torque acceleration is equal to zero and the torque acceleration increases to a fourth acceleration, and the fourth acceleration is greater than zero. The torque jerk can be a fixed value greater than zero. The torque acceleration increases from the initial torque acceleration (zero) to the fourth acceleration based on the torque jerk. The torque increases based on the torque acceleration in the first stage until it increases to n4. Secondly, a second stage where the torque jerk is equal to zero, the initial torque acceleration and the torque acceleration are equal to the fourth acceleration is determined. With the torque jerk being zero, the torque acceleration is controlled to be a fixed value, and the fourth acceleration is used as the initial torque acceleration and the torque acceleration. The torque increases based on the torque acceleration in the second stage until it increases to n3. After that, a third stage where the torque jerk is less than zero, the initial torque acceleration is equal to the fourth acceleration and the torque acceleration decreases to zero is determined. The torque jerk can be a fixed value less than zero. The torque acceleration decreases from the initial torque acceleration (the fourth acceleration) to zero based on the torque jerk. The torque increases based on the torque acceleration in the third stage until the torque increases to the target torque.

[0183] In actual execution, when the target operating scenario is the fourth operating scenario and the target torque is less than the current torque, an operating strategy for instructing the torque to decrease to the target torque can be determined.

[0184] In some embodiments, as Figure 6 shown, when the current torque is negative, the current speed is positive, the target torque is negative and the target torque is less than the current torque, a third operating strategy is determined; the third operating strategy is used to instruct the target motor to first execute a first stage where the torque jerk is less than zero, the initial torque acceleration is equal to zero and the torque acceleration is equal to zero and the torque acceleration decreases to a third acceleration, and the third acceleration is less than zero. The torque jerk can be a fixed value less than zero. The torque acceleration decreases from the initial torque acceleration (zero) to the third acceleration based on the torque jerk. The torque decreases based on the torque acceleration in the first stage until it decreases to n3. Secondly, a second stage where the torque jerk is equal to zero, the initial torque acceleration and the torque acceleration are equal to the third acceleration is determined. With the torque jerk being zero, the torque acceleration is controlled to be a fixed value, and the third acceleration is used as the initial torque acceleration and the torque acceleration. The torque decreases based on the torque acceleration in the second stage until it decreases to n4. After that, a third stage where the torque jerk is greater than zero, the initial torque acceleration is equal to the second acceleration and the torque acceleration increases to zero is determined. The torque jerk can be a fixed value greater than zero. The torque acceleration increases from the initial torque acceleration (the third acceleration) to zero based on the torque jerk. The torque decreases based on the torque acceleration in the third stage until the torque decreases to the target torque.

[0185] In actual execution, when the target operating scenario is the fourth operating scenario and the target torque is greater than the current torque, a running strategy for indicating an increase in torque to the target torque can be determined.

[0186] In some embodiments, as Figure 7 shown, when the current torque is negative, the current rotational speed is positive, the target torque is negative, and the target torque is greater than the current torque, a fourth running strategy is determined; the fourth running strategy is used to indicate that the target motor first executes a first stage where the torque acceleration increase is greater than zero, the initial torque acceleration is equal to zero, and the torque acceleration increases to a fourth acceleration, and the fourth acceleration is greater than zero. The torque acceleration increase can be a fixed value greater than zero. The torque acceleration increases from the initial torque acceleration (zero) to the fourth acceleration based on the torque acceleration increase. The torque increases based on the torque acceleration in the first stage until it increases to n4. Secondly, a second stage where the torque acceleration increase is equal to zero, the initial torque acceleration and the torque acceleration are equal to the fourth acceleration is determined. With zero as the torque acceleration increase, the torque acceleration is controlled to be a fixed value, and the fourth acceleration is used as the initial torque acceleration and the torque acceleration. The torque increases based on the torque acceleration in the second stage until it increases to n3. After that, a third stage where the torque acceleration increase is less than zero, the initial torque acceleration is equal to the fourth acceleration, and the torque acceleration decreases to zero is determined. The torque acceleration increase can be a fixed value less than zero. The torque acceleration decreases from the initial torque acceleration (the fourth acceleration) to zero based on the torque acceleration increase. The torque increases based on the torque acceleration in the third stage until the torque increases to the target torque.

[0187] In actual execution, when the target operating scenario is the fifth operating scenario, the torque decreases from the current torque to zero and then decreases from zero to the target torque, a fifth running strategy can be determined.

[0188] In some embodiments, as Figure 8As shown, when the current torque is positive, the current speed is positive, the target torque is negative, the torque decreases from the current torque to zero and then from zero to the target torque, the fifth operating strategy is determined; the fifth operating strategy is used to instruct the target motor to first execute a first stage where the torque acceleration is less than zero, the initial torque acceleration is equal to zero and the torque acceleration decreases to a fifth acceleration, and the fifth acceleration is less than zero. The torque acceleration can be a fixed value less than zero. The torque acceleration decreases from the initial torque acceleration (zero) to the fifth acceleration based on the torque acceleration. The torque decreases based on the torque acceleration in the first stage until it decreases to n2. Secondly, a second stage is determined where the torque acceleration is equal to zero, and the initial torque acceleration and the torque acceleration are equal to the fifth acceleration. With zero as the torque acceleration, the torque acceleration is controlled to be a fixed value, and the fifth acceleration is used as the initial torque acceleration and the torque acceleration. The torque decreases based on the torque acceleration in the second stage until it decreases to n1. After that, a third stage is determined where the torque acceleration is greater than zero, the initial torque acceleration is equal to the fifth acceleration and the torque acceleration increases to zero. The torque acceleration can be a fixed value greater than zero. The torque acceleration increases from the initial torque acceleration (the fifth acceleration) to zero based on the torque acceleration. The torque decreases based on the torque acceleration in the third stage until the torque decreases to zero. The fifth operating strategy is used to instruct the target motor to execute a fourth stage where the torque acceleration is less than zero, the initial torque acceleration is equal to zero and the torque acceleration decreases to a sixth acceleration, and the sixth acceleration is less than zero. The torque acceleration can be a fixed value less than zero. The torque acceleration decreases from the initial torque acceleration (zero) to the sixth acceleration based on the torque acceleration. The torque decreases based on the torque acceleration in the fourth stage until it decreases to n3. A fifth stage is determined where the torque acceleration is equal to zero, and the initial torque acceleration and the torque acceleration are equal to the sixth acceleration. With zero as the torque acceleration, the torque acceleration is controlled to be a fixed value, and the sixth acceleration is used as the initial torque acceleration and the torque acceleration. The torque decreases based on the torque acceleration in the fifth stage until it decreases to n4. After that, a sixth stage is determined where the torque acceleration is greater than zero, the initial torque acceleration is equal to the sixth acceleration and the torque acceleration increases to zero. The torque acceleration can be a fixed value greater than zero. The torque acceleration increases from the initial torque acceleration (the sixth acceleration) to zero based on the torque acceleration. The torque decreases based on the torque acceleration in the sixth stage until the torque decreases to the target torque.

[0189] In actual execution, when the target operating scenario is the sixth operating scenario and the torque decreases from the current torque to zero and then from zero to the target torque, the fifth operating strategy can be determined.

[0190] In some embodiments, such as Figure 8As shown, when the current torque is positive, the current speed is negative, the target torque is negative, the torque decreases from the current torque to zero, and then decreases from zero to the target torque, the fifth operating strategy is determined; the fifth operating strategy is used to instruct the target motor to first execute a first stage where the torque acceleration is less than zero, the initial torque acceleration is equal to zero, and the torque acceleration decreases to a fifth acceleration, and the fifth acceleration is less than zero. The torque acceleration can be a fixed value less than zero. The torque acceleration decreases from the initial torque acceleration (zero) to the fifth acceleration based on the torque acceleration. The torque decreases based on the torque acceleration in the first stage until it decreases to n2. Secondly, a second stage where the torque acceleration is equal to zero, and the initial torque acceleration and the torque acceleration are equal to the fifth acceleration is determined. With zero as the torque acceleration, the torque acceleration is controlled to be a fixed value, and the fifth acceleration is used as the initial torque acceleration and the torque acceleration. The torque decreases based on the torque acceleration in the second stage until it decreases to n1. After that, a third stage where the torque acceleration is greater than zero, the initial torque acceleration is equal to the fifth acceleration, and the torque acceleration increases to zero is determined. The torque acceleration can be a fixed value greater than zero. The torque acceleration increases from the initial torque acceleration (the fifth acceleration) to zero based on the torque acceleration. The torque decreases based on the torque acceleration in the third stage until the torque decreases to zero. The fifth operating strategy is used to instruct the target motor to first execute a fourth stage where the torque acceleration is less than zero, the initial torque acceleration is equal to zero, and the torque acceleration decreases to a sixth acceleration, and the sixth acceleration is less than zero. The torque acceleration can be a fixed value less than zero. The torque acceleration decreases from the initial torque acceleration (zero) to the sixth acceleration based on the torque acceleration. The torque decreases based on the torque acceleration in the fourth stage until it decreases to n3. A fifth stage where the torque acceleration is equal to zero, and the initial torque acceleration and the torque acceleration are equal to the sixth acceleration is determined. With zero as the torque acceleration, the torque acceleration is controlled to be a fixed value, and the sixth acceleration is used as the initial torque acceleration and the torque acceleration. The torque decreases based on the torque acceleration in the fifth stage until it decreases to n4. After that, a sixth stage where the torque acceleration is greater than zero, the initial torque acceleration is equal to the sixth acceleration, and the torque acceleration increases to zero is determined. The torque acceleration can be a fixed value greater than zero. The torque acceleration increases from the initial torque acceleration (the sixth acceleration) to zero based on the torque acceleration. The torque decreases based on the torque acceleration in the sixth stage until the torque decreases to the target torque.

[0191] In actual execution, when the target operating scenario is the seventh operating scenario and the torque increases from the current torque to zero and then from zero to the target torque, an operating strategy for instructing the torque to increase to zero can be determined.

[0192] In some embodiments, such as Figure 9As shown, when the current torque is negative, the current speed is positive, the target torque is positive, the torque increases from the current torque to zero and then from zero to the target torque, the sixth operating strategy is determined; the sixth operating strategy is used to instruct the target motor to first execute a first stage where the torque acceleration is greater than zero, the initial torque acceleration is equal to zero and the torque acceleration increases to a seventh acceleration, and the seventh acceleration is greater than zero. The torque acceleration can be a fixed value greater than zero. The torque acceleration increases from the initial torque acceleration (zero) to the seventh acceleration based on the torque acceleration. The torque increases based on the torque acceleration in the first stage until it increases to n4. Secondly, a second stage is determined where the torque acceleration is equal to zero, and the initial torque acceleration and the torque acceleration are equal to the seventh acceleration. With zero as the torque acceleration, the torque acceleration is controlled to be a fixed value, and the seventh acceleration is used as the initial torque acceleration and the torque acceleration. The torque increases based on the torque acceleration in the second stage until it increases to n3. After that, a third stage is determined where the torque acceleration is less than zero, the initial torque acceleration is equal to the seventh acceleration and the torque acceleration decreases to zero. The torque acceleration can be a fixed value less than zero. The torque acceleration decreases from the initial torque acceleration (the seventh acceleration) to zero based on the torque acceleration. The torque increases based on the torque acceleration in the third stage until the torque increases to zero. The sixth operating strategy is used to instruct the target motor to execute a fourth stage where the torque acceleration is greater than zero, the initial torque acceleration is equal to zero and the torque acceleration increases to an eighth acceleration, and the eighth acceleration is greater than zero. The torque acceleration can be a fixed value greater than zero. The torque acceleration increases from the initial torque acceleration (zero) to the eighth acceleration based on the torque acceleration. The torque increases based on the torque acceleration in the fourth stage until it increases to n1. Secondly, a fifth stage is determined where the torque acceleration is equal to zero, and the initial torque acceleration and the torque acceleration are equal to the eighth acceleration. With zero as the torque acceleration, the torque acceleration is controlled to be a fixed value, and the eighth acceleration is used as the initial torque acceleration and the torque acceleration. The torque increases based on the torque acceleration in the fifth stage until it increases to n2. After that, a sixth stage is determined where the torque acceleration is less than zero, the initial torque acceleration is equal to the eighth acceleration and the torque acceleration decreases to zero. The torque acceleration can be a fixed value less than zero. The torque acceleration decreases from the initial torque acceleration (the eighth acceleration) to zero based on the torque acceleration. The torque increases based on the torque acceleration in the sixth stage until the torque increases to the target torque.

[0193] In actual execution, when the target operating scenario is the eighth operating scenario and the torque increases from the current torque to zero and then from zero to the target torque, the sixth operating strategy can be determined.

[0194] In some embodiments, when the current torque is negative, the current rotational speed is negative, the target torque is positive, the torque increases from the current torque to zero and then increases from zero to the target torque, a sixth operation strategy is determined; the sixth operation strategy is used to instruct the target motor to first execute a first stage in which the torque jerk is greater than zero, the initial torque acceleration is equal to zero, and the torque acceleration increases to a seventh acceleration, and the seventh acceleration is greater than zero. The torque jerk can be a fixed value greater than zero. The torque acceleration increases from the initial torque acceleration (zero) to the seventh acceleration based on the torque jerk. The torque increases based on the torque acceleration in the first stage until it increases to n4. Secondly, a second stage is determined in which the torque jerk is equal to zero, and the initial torque acceleration and the torque acceleration are equal to the seventh acceleration. With the torque jerk being zero, the torque acceleration is controlled to be a fixed value, and the seventh acceleration is used as the initial torque acceleration and the torque acceleration. The torque increases based on the torque acceleration in the second stage until it increases to n3. After that, a third stage is determined in which the torque jerk is less than zero, the initial torque acceleration is equal to the seventh acceleration, and the torque acceleration decreases to zero. The torque jerk can be a fixed value less than zero. The torque acceleration decreases from the initial torque acceleration (the seventh acceleration) to zero based on the torque jerk. The torque increases based on the torque acceleration in the third stage until the torque increases to zero. The sixth operation strategy is used to instruct the target motor to execute a fourth stage in which the torque jerk is greater than zero, the initial torque acceleration is equal to zero, and the torque acceleration increases to an eighth acceleration, and the eighth acceleration is greater than zero. The torque jerk can be a fixed value greater than zero. The torque acceleration increases from the initial torque acceleration (zero) to the eighth acceleration based on the torque jerk. The torque increases based on the torque acceleration in the fourth stage until it increases to n1. Secondly, a fifth stage is determined in which the torque jerk is equal to zero, and the initial torque acceleration and the torque acceleration are equal to the eighth acceleration. With the torque jerk being zero, the torque acceleration is controlled to be a fixed value, and the eighth acceleration is used as the initial torque acceleration and the torque acceleration. The torque increases based on the torque acceleration in the fifth stage until it increases to n2. After that, a sixth stage is determined in which the torque jerk is less than zero, the initial torque acceleration is equal to the eighth acceleration, and the torque acceleration decreases to zero. The torque jerk can be a fixed value less than zero. The torque acceleration decreases from the initial torque acceleration (the eighth acceleration) to zero based on the torque jerk. The torque increases based on the torque acceleration in the sixth stage until the torque increases to the target torque.

[0195] Step 240: Control the target motor to operate based on the operation strategy.

[0196] In some embodiments, the operation strategy may include the acceleration and / or jerk of the torque during the rising or falling process. After determining the operation strategy corresponding to the target operation scenario, the torque of the target motor can be controlled to rise or fall to the target torque based on the acceleration and / or jerk of the torque rising or falling in the operation strategy.

[0197] The control method in the embodiments of the present application can be executed by an electronic device or by components in the electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal or other devices other than terminals. Exemplarily, the electronic device can be a mobile phone, a tablet computer, a laptop computer, a handheld computer, an in-vehicle electronic device, a Mobile Internet Device (MID), an augmented reality (AR) / virtual reality (VR) device, a robot, a wearable device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA), etc. It can also be a server, a Network Attached Storage (NAS), a personal computer (PC), a television (TV), a teller machine, or a self-service machine, etc. The embodiments of the present application do not make specific limitations.

[0198] The motor operation control device in the embodiments of the present application can be a device with an operating system. The operating system can be the Microsoft (Windows) operating system, the Android operating system, the IOS operating system, or other possible operating systems. The embodiments of the present application do not make specific limitations.

[0199] The embodiments of the present application further provide a motor, and the motor is used to execute the control method in any of the above embodiments.

[0200] In some embodiments, the motor can be the target motor mentioned in any of the above embodiments. The motor can be an automotive motor applied to an automobile.

[0201] The embodiments of the present application further provide an automobile, and the automobile includes the motor in the above embodiments.

[0202] In some embodiments, as Figure 10 shown, the embodiments of the present application further provide a computer device 1000, including a processor 1001, a memory 1002, and a computer program stored on the memory 1002 and executable on the processor 1001. When the program is executed by the processor 1001, it implements each process of the above control method embodiments and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0203] It should be noted that the computer devices in the embodiments of the present application include the above-mentioned mobile electronic devices and non-mobile electronic devices.

[0204] The embodiments of the present application also provide a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements each process of the above control method embodiment and can achieve the same technical effect. To avoid repetition, it will not be elaborated here.

[0205] Among them, the processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes computer-readable storage media, such as computer read-only memory ROM, random access memory RAM, magnetic disks or optical discs, etc.

[0206] The embodiments of the present application also provide a computer program product, including a computer program, which implements the above control method when executed by a processor.

[0207] Among them, the processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes computer-readable storage media, such as computer read-only memory ROM, random access memory RAM, magnetic disks or optical discs, etc.

[0208] The embodiments of the present application further provide a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement each process of the above control method embodiment and can achieve the same technical effect. To avoid repetition, it will not be elaborated here.

[0209] It should be understood that the chip mentioned in the embodiments of the present application can also be referred to as a system-on-chip, system chip, chip system or system-on-chip, etc.

[0210] It should be noted that in this text, the term "comprise", "include" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements not only includes those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising such element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the reverse order according to the functions involved. For example, the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. Additionally, the features described with reference to certain examples may be combined in other examples.

[0211] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described method of the embodiments can be implemented by means of software plus a necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is a better implementation. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. The computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions for causing a terminal (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present application.

[0212] The embodiments of the present application have been described above in conjunction with the accompanying drawings. However, the present application is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present application, those of ordinary skill in the art can also make many forms without departing from the purpose of the present application and the scope protected by the claims, and all of them belong to the protection scope of the present application.

[0213] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0214] Although embodiments of the present application have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present application. The scope of the present application is defined by the claims and their equivalents.

Claims

1. A control method, characterized in that, Including: Obtaining the current torque, current speed of a target motor, and a target torque for the target motor; Controlling the operation of the target motor based on an operation strategy corresponding to a target operation scenario; The target operation scenario is determined based on the current torque, the current speed, and the target torque.

2. The control method according to claim 1, wherein The controlling the operation of the target motor based on an operation strategy corresponding to a target operation scenario includes: Determining the target operation scenario based on the current torque, the current speed, and the target torque; Determining the operation strategy based on the target operation scenario, the current torque, and the target torque; Controlling the operation of the target motor based on the operation strategy.

3. The control method according to claim 2, wherein The determining the target operation scenario based on the current torque, the current speed, and the target torque includes: When the current torque and the target torque have the same sign, determining the target operation scenario as a first type of scenario; When the current torque and the target torque have different signs, determining the target operation scenario as a second type of scenario.

4. The control method according to claim 3, wherein The determining the operation strategy based on the target operation scenario, the current torque, and the target torque includes: When the target operation scenario is the first type of scenario, determining the operation strategy as a first type of operation strategy based on the relationship between the target torque and the current torque; the first type of operation strategy is used to indicate the variation law of the torque of the target motor in each stage, and the torque variation of the target motor in adjacent two stages is controlled based on different jerk values, and the number of stages is at least 2.

5. The control method according to claim 3, wherein The determining the operation strategy based on the target operation scenario, the current torque, and the target torque includes: When the target operation scenario is the second type of scenario, determining the operation strategy as a second type of operation strategy based on the signs of the target torque and the current torque; the second type of operation strategy is used to indicate the variation law of the torque of the target motor in each stage, and the torque variation of the target motor in adjacent two stages is controlled based on different jerk values, and the number of stages is at least 3.

6. The control method according to claim 4, characterized in that The first type of scenario includes a first operation scenario and a second operation scenario; the first type of operation strategy includes a first operation strategy and a second operation strategy; the determining the operation strategy as a first type of operation strategy based on the relationship between the target torque and the current torque when the target operation scenario is the first type of scenario includes: When the target operation scenario is the first operation scenario or the second operation scenario, and the target torque is greater than the current torque, determining the operation strategy as the first operation strategy; the first operation strategy is used to indicate that in the first stage, the torque of the target motor is increased based on a positive jerk value, in the second stage, the torque of the target motor is increased based on a zero jerk value, and in the third stage, the torque of the target motor is increased based on a negative jerk value; When the target operating scenario is the first operating scenario or the second operating scenario, and the target torque is less than the current torque, determine that the first type of operating strategy is the second operating strategy; the second operating strategy is used to indicate that in the first stage, the target motor is controlled to reduce torque based on a jerk less than zero, in the second stage, the target motor is controlled to reduce torque based on a jerk equal to zero, and in the third stage, the target motor is controlled to reduce torque based on a jerk greater than zero; Among them, the first operating scenario is a scenario where the current torque is positive, the current speed is positive, and the target torque is positive; the second operating scenario is a scenario where the current torque is positive, the current speed is negative, and the target torque is positive.

7. The control method according to claim 4, characterized in that The first type of scenario further includes a third operating scenario and a fourth operating scenario; the first type of operating strategy further includes a third operating strategy and a fourth operating strategy; when the target operating scenario is the first type of scenario, determining the operating strategy as the first type of operating strategy based on the relationship between the target torque and the current torque includes: When the target operating scenario is the third operating scenario or the fourth operating scenario, and the target torque is less than the current torque, determine that the operating strategy is the third operating strategy; the third operating strategy is used to indicate that in the first stage, the target motor is controlled to reduce torque based on a jerk less than zero, in the second stage, the target motor is controlled to reduce torque based on a jerk equal to zero, and in the third stage, the target motor is controlled to reduce torque based on a jerk greater than zero; When the target operating scenario is the third operating scenario or the fourth operating scenario, and the target torque is greater than the current torque, determine that the operating strategy is the fourth operating strategy; the fourth operating strategy is used to indicate that in the first stage, the target motor is controlled to increase torque based on a jerk greater than zero, in the second stage, the target motor is controlled to increase torque based on a jerk equal to zero, and in the third stage, the target motor is controlled to increase torque based on a jerk less than zero; Among them, the third operating scenario is a scenario where the current torque is negative, the current speed is negative, and the target torque is negative; the fourth operating scenario is a scenario where the current torque is negative, the current speed is positive, and the target torque is negative.

8. The control method according to claim 5, wherein The second type of scenario includes a fifth operating scenario and a sixth operating scenario; the second type of operating strategy includes a fifth operating strategy; when the target operating scenario is the second type of scenario, determining the operating strategy as the second type of operating strategy based on the signs of the target torque and the current torque includes: When the target operating scenario is the fifth operating scenario or the sixth operating scenario, the torque decreases from the current torque to zero and then decreases from zero to the target torque, the operating strategy is determined to be the fifth operating strategy; the fifth operating strategy is used to indicate that in the first stage, the target motor is controlled to reduce torque based on a jerk less than zero, in the second stage, the target motor is controlled to reduce torque based on a jerk equal to zero, in the third stage, the target motor is controlled to reduce torque based on a jerk greater than zero until the torque decreases to zero, in the fourth stage, the target motor is controlled to reduce torque from zero based on a jerk less than zero, in the fifth stage, the target motor is controlled to reduce torque based on a jerk equal to zero, and in the sixth stage, the target motor is controlled to reduce torque to the target torque based on a jerk greater than zero; wherein, the fifth operating scenario is a scenario where the current torque is positive, the current speed is positive, and the target torque is negative; the sixth operating scenario is a scenario where the current torque is positive, the current speed is negative, and the target torque is negative.

9. The control method according to claim 5, characterized in that, The second type of scenario further includes a seventh operating scenario and an eighth operating scenario; the second type of operating strategy includes a sixth operating strategy; when the target operating scenario is the second type of scenario, based on the signs of the target torque and the current torque, the operating strategy is determined to be the second type of operating strategy, including: When the target operating scenario is the seventh operating scenario or the eighth operating scenario, the torque increases from the current torque to zero and then increases from zero to the target torque, the operating strategy is determined to be the sixth operating strategy; the sixth operating strategy is used to indicate that in the first stage, the target motor is controlled to increase torque based on a jerk greater than zero, in the second stage, the target motor is controlled to increase torque based on a jerk equal to zero, in the third stage, the target motor is controlled to increase torque based on a jerk less than zero until the torque increases to zero, in the fourth stage, the target motor is controlled to increase torque from zero based on a jerk greater than zero, in the fifth stage, the target motor is controlled to increase torque based on a jerk equal to zero, and in the sixth stage, the target motor is controlled to increase torque to the target torque based on a jerk less than zero; The seventh operating scenario is a scenario where the current torque is negative, the current speed is positive, and the target torque is positive; the eighth operating scenario is a scenario where the current torque is negative, the current speed is negative, and the target torque is positive.

10. A motor, characterized in that, The motor is used to execute the control method according to any one of claims 1-9.

11. A vehicle, characterized in that, The vehicle includes the motor according to claim 10.

12. A computer device, comprising a memory, a processor, and a computer program stored on the memory, characterized in that, The processor executes the computer program to implement the steps of the control method according to any one of claims 1-9.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the control method according to any one of claims 1-9.

14. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the control method according to any one of claims 1-9.

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