Electric vehicle power takeoff torque control method and device, electronic equipment and medium

Abstract

The invention relates to an electric vehicle power takeoff torque control method and device, electronic equipment and a medium, and belongs to the technical field of vehicle power control. The method comprises the steps that a power takeoff starting instruction is received, it is determined that a target vehicle meets a first preset condition, a power takeoff request of the power takeoff is sent to a gearbox controller, and the gearbox controller is started; the gearbox controller controls a gearbox to mesh with a power takeoff gear based on the power takeoff request When it is determined that the meshing state of the power takeoff is unsuccessful, a first request that the torque on the output shaft of the gearbox is a first preset threshold value is sent to the gearbox controller, or when it is determined that the rotating speed on the output shaft of the gearbox is smaller than a second preset threshold value, a second request that the torque on the output shaft of the gearbox is a second preset threshold value; a second request for adding the torque on the output shaft of the gearbox according to the preset frequency is sent to the gearbox controller; and controlling the power takeoff to be engaged with the gearbox based on the first preset threshold value or the second preset threshold value. The power takeoff is driven to be meshed by controlling the torque on the output shaft of the gearbox, and the problem of gear grinding or gear beating can be effectively avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle power control, and in particular to an electric vehicle power take-off torque control method and device, an electronic device and a medium. BACKGROUND

[0002] The power take-off is a set or multiple sets of gear shift gears, also known as a power output device, which is generally composed of a gear box, a clutch and a controller, and is connected with the low gear of the gear box or the output shaft of the auxiliary gearbox to output power to external working devices such as lifting pumps. Special vehicles such as cranes, pump trucks, fire trucks, cement mixers and refrigeration vehicles require additional power, which requires a power take-off to obtain power, and the power take-off drives a high-pressure oil pump to supply a self-unloading vehicle, drives a water pump to supply a fire truck, drives a compressor to supply a refrigeration vehicle, and drives a hydraulic motor to rotate a mixing tank.

[0003] The prior art controls the gear engagement through the motor speed mode, which cannot accurately control the engagement torque and is prone to damage the gears such as gear wear or gear tooth. SUMMARY

[0004] Therefore, it is necessary to provide an electric vehicle power take-off torque control method, device, electronic device and medium to solve the problem of gear damage such as gear wear or gear tooth in the prior art.

[0005] To solve the above problems, in a first aspect, the present application provides an electric vehicle power take-off torque control method, comprising: When a power take-off opening instruction is received and it is determined that a target vehicle meets a first preset condition, a power take-off request is sent to a gearbox controller, and the gearbox controller controls the gear engagement of the power take-off based on the power take-off request; When it is determined that the engagement state of the power take-off is unsuccessful, a first request is sent to the gearbox controller to make the torque on the output shaft of the gearbox be a first preset threshold, or when it is determined that the speed on the output shaft of the gearbox is less than a second preset threshold, a second request is sent to the gearbox controller to add the torque on the output shaft of the gearbox according to a preset frequency, so that the torque on the output shaft of the gearbox is a second preset threshold; The power take-off and the gearbox are engaged based on the first preset threshold or the second preset threshold.

[0006] In a possible implementation, it is determined that the target vehicle meets the preset condition, comprising: It is determined that the received Ready signal is valid; It is determined that the throttle depth of the target vehicle is less than a third preset threshold; It is determined that the speed of the target vehicle is less than a fourth preset threshold; determining that the shift request is N and the actual gear is N; determining that the hand brake is in the pulled-up state; determining that the auxiliary control module is fault-free; determining that the air pump is leak-free.

[0007] In a possible implementation, the method further includes: when determining that the engagement state of the power take-off is successful, sending an engagement success signal to the transmission controller, and controlling the power take-off operation indicator light to turn on.

[0008] In a possible implementation, after the power take-off is engaged with the transmission based on the first preset threshold or the second preset threshold, the method further includes: when determining that the engagement state of the power take-off is unsuccessful, sending a third request that the torque on the transmission output shaft is a third preset threshold to the transmission controller, so that the torque on the transmission output shaft is zero.

[0009] In a possible implementation, the method further includes: when receiving the power take-off closing instruction and determining that the target vehicle meets the second preset condition, sending a fourth request that the torque on the transmission output shaft is zero, so that the torque on the transmission output shaft is zero.

[0010] In a possible implementation, the method further includes: when receiving the power take-off closing instruction and determining that the target vehicle meets the second preset condition, sending a fourth request that the torque on the transmission output shaft is zero, so that the torque on the transmission output shaft is zero.

[0011] In a third aspect, the application further provides a power take-off torque control method for an electric vehicle, applied to a transmission controller, including: receiving and controlling the transmission to engage the power take-off gear based on a power take-off request of the power take-off; receiving, from a vehicle controller, an engagement state of the power take-off that is not engaged, and controlling the torque on the transmission output shaft to be a first preset threshold, or controlling the torque on the transmission output shaft to be a second preset threshold.

[0012] In a fourth aspect, the application further provides an electronic device including a memory and a processor, wherein: the memory is configured to store a program; the processor is coupled to the memory and configured to execute the program stored in the memory to implement the steps in the power take-off torque control method for an electric vehicle in any one of the above implementation modes.

[0013] In a fifth aspect, the present application further provides a computer readable storage medium for storing computer readable programs or instructions, which, when executed by a processor, can implement the steps of the electric vehicle power take-off torque control method in any of the above-mentioned implementation manners.

[0014] The electric vehicle power take-off torque control method provided by the present application can effectively avoid gear grinding or gear toothing problems. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 An embodiment method flowchart of the electric vehicle power take-off torque control method provided by the present application; Figure 2 An embodiment method flowchart of a specific embodiment of the electric vehicle power take-off torque control method provided by the present application; Figure 3 An embodiment flowchart schematic diagram of the electric vehicle power take-off torque control device provided by the present application; Figure 4 An embodiment structure schematic diagram of the electronic device provided by the present application. DETAILED DESCRIPTION

[0016] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a 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 skilled in the art without creative work fall within the protection scope of the present application.

[0017] In the description of the embodiments of the application, unless otherwise specified, the meaning of "a plurality of" is two or more. The association relationship of the associated objects described by "and / or" indicates that there can be three relationships, for example: A and / or B can represent the following three cases: A exists alone, A and B exist together, and B exists alone.

[0018] The descriptions of "first", "second", etc. involved in the embodiments of the application are only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the technical features defined with "first", "second" can explicitly or implicitly include at least one of the features.

[0019] In this paper, the reference to "embodiments" means that the specific features, structures or properties described in conjunction with the embodiments can be included in at least one embodiment of the application. The appearance of this phrase in various places in the specification does not necessarily mean the same embodiment, nor is it an independent or alternative embodiment to other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0020] Before the embodiments are displayed, the following terms are explained.

[0021] The vehicle control unit (VCU) is the core control unit of new energy vehicles, responsible for coordinating and managing the work of various vehicle subsystems, ensuring efficient and safe operation of the vehicle. It collects sensor data in real time, processes driving instructions, and sends instructions to other controllers (such as motor controllers, battery management systems, etc.), achieving power distribution, energy management, fault diagnosis and other functions.

[0022] The transmission control unit (TCU) is an electronic control unit that mainly monitors and manages the transmission system of the vehicle. It adjusts the engagement of the transmission gears to achieve appropriate gear shifting based on signals such as driver's operation, vehicle speed, throttle position, etc., thereby optimizing vehicle performance and fuel efficiency.

[0023] The power take-off, also known as power take-off, is generally composed of a gear box, a clutch and a controller, connected with the low gear of the transmission or the output shaft of the auxiliary gearbox, and outputs power to external working devices such as lifting pumps. The power take-off working mode is divided into two types, namely the parking power take-off working mode and the driving power take-off working mode. In the parking power take-off working mode, the vehicle is in a static state, and the motor power is only output to the upper equipment through the power take-off. In the driving power take-off working mode, the motor power is output to the upper equipment through the power take-off, and the vehicle can also be driven. Therefore, in the parking power take-off working mode, the gear of the electric vehicle is in the neutral position, and in the driving power take-off working mode, the gear of the electric vehicle is in the forward position. In addition, in the driving power take-off mode, the motor torque needs to change with the accelerator pedal signal, so the power take-off must be in a working mode that does not respond to the control instructions of the upper equipment, so as to avoid the conflict between the upper equipment and the drive control.

[0024] The power take-off switch (PTO) is used to control the function of the power take-off. The power take-off is a set of transmission gears, also known as a power take-off, composed of a gear box, a clutch, a controller, and connected with the low gear of the transmission or the output shaft of the auxiliary gearbox. Its main function is to transmit power from the vehicle to external working devices. When the PTO switch is activated, it will lock the vehicle speed at a certain speed, and even if the accelerator is pressed, the vehicle speed will not change.

[0025] The present application provides a kind of electric vehicle power take-off torque control method, device, electronic equipment and medium, the following are described respectively.

[0026] Figure 1 An embodiment flow diagram of the electric vehicle power take-off torque control method provided by the present application is shown in Figure 1 As shown, the electric vehicle power take-off torque control method is applied to the vehicle controller, comprising: S101, when receiving the power take-off opening instruction and determining that the target vehicle meets the first preset condition, send the power take-off request to the transmission controller, and the transmission controller controls the transmission to engage the power take-off gear based on the power take-off request. It should be noted that when the driver presses the power take-off switch and the vehicle meets the first preset condition, the vehicle controller receives the power take-off opening instruction and sends the PTO request to the transmission controller.

[0027] S102, when determining that the engagement state of the power take-off is unsuccessful, send a first request to the transmission controller to make the torque on the transmission output shaft be a first preset threshold, or when determining that the speed on the transmission output shaft is less than a second preset threshold, send a second request to the transmission controller to add the torque on the transmission output shaft according to a preset frequency, so that the torque on the transmission output shaft is a second preset threshold; It should be noted that the gearbox torque refers to the torque on the output shaft of the gearbox, which is the torque transmitted to the wheels by the engine through the gearbox.

[0028] The engagement state of the power take-off device being unsuccessful indicates that the power take-off device cannot work because it cannot obtain power, and therefore the gearbox controller needs to control the torque on the shaft end of the gearbox.

[0029] S103, control the power take-off device and the gearbox based on the first preset threshold or the second preset threshold.

[0030] When the torque on the output shaft of the gearbox reaches the first preset threshold or the second preset threshold, the gearbox is engaged with the power take-off device and reaches a certain speed at this time, so that the power take-off device obtains power.

[0031] Compared with the prior art, the electric vehicle power take-off device torque control method provided in the embodiment receives a power take-off device opening instruction and determines that the target vehicle meets a first preset condition, sends a power take-off request to the gearbox controller, the gearbox controller controls the gearbox to engage the power take-off gear based on the power take-off request, thereby controlling the gearbox to engage the power take-off gear through the gearbox controller, when it is determined that the engagement state of the power take-off device is unsuccessful, sends a first request to the gearbox controller that the torque on the output shaft of the gearbox is a first preset threshold, so that the torque on the output shaft of the gearbox is the first preset threshold, or when it is determined that the speed on the output shaft of the gearbox is less than a second preset threshold, sends a second request to the gearbox controller that adds the torque on the output shaft of the gearbox according to a preset frequency, so that the torque on the output shaft of the gearbox is the second preset threshold, the torque on the output shaft of the gearbox is controlled to drive the power take-off device to engage, and the power take-off device and the gearbox are controlled to engage based on the first preset threshold or the second preset threshold. The torque on the output shaft of the gearbox is controlled to drive the power take-off device to engage, which can effectively avoid the problem of gear grinding or gear knocking.

[0032] It should be noted that the power take-off is engaged, that is, the power take-off device is engaged with the gearbox, that is, the power take-off device is in a working state.

[0033] In specific embodiments of the present application, as shown in Figure 2 the workflow diagram, the specific steps are as follows: Step 1: The vehicle controller identifies the power take-off request by collecting power take-off request switch signals, throttle signals, gear signals, vehicle speed, hand brake state, air pump controller fault state, etc. to identify whether the driver has an effective power take-off demand; Step 2: Gear engagement, request the gearbox to engage the power take-off gear, if the TCU feedbacks that the power take-off is not engaged, request the TCU shaft end to output a large torque to ensure that the gear slides to a position where it can be engaged; Step three: exit the power take-off, through the acquisition of power take-off request signal, vehicle driving state, power take-off engagement failure times, hand brake state, air pump controller fault state and so on to identify whether to exit the power take-off; Step four: power take-off torque release, request TCU shaft end torque to be 0Nm, identify TCU feedback actual torque to be a small value, confirm the release of torque, or torque release timeout, can request to exit the power take-off gear; Step five: power take-off fault processing, 5 times of gear engagement failure, instrument power take-off indicator light flashes, vehicle speed limit 10km / h when power take-off gear fails to exit, instrument speed limit indicator light is on, and the vehicle is prohibited to be in R gear.

[0034] In some embodiments of the present application, determining that the target vehicle meets the preset condition comprises: determining that the received Ready signal is valid; determine that the throttle depth of the target vehicle is less than a third preset threshold; determine that the speed of the target vehicle is less than a fourth preset threshold; determine that the shift request is N gear, and the actual gear is N gear; determine that the hand brake is in the pulled-up state; determine that the auxiliary control module is fault-free; determine that the air pump has no leakage.

[0035] In some embodiments of the present application, further comprising: when it is determined that the engagement state of the power take-off device is successful, sending an engagement success signal to the transmission controller, and controlling the power take-off device working indicator light to turn on.

[0036] Further, the torque request is sent to the transmission controller, and the driver controls the power take-off.

[0037] In a specific embodiment of the present application, in step S102, the first preset threshold is 200Nm, that is, the TCU shaft end torque reaches 200Nm, and the second preset threshold is that if the TCU shaft end speed is less than 50rpm, the torque is increased by 40Nm every 10ms, and the maximum requested torque is 700Nm.

[0038] In some embodiments of the present application, after the power take-off device is engaged based on the first preset threshold or the second preset threshold, further comprising: when it is determined that the engagement state of the power take-off device is not successful, sending a third request to the transmission controller that the torque on the transmission output shaft is a third preset threshold, so that the torque on the transmission output shaft is zero, and is temporarily defined for 2s.

[0039] At this time, if the TCU shaft end torque zero request is unsuccessful for 5 consecutive times, the TCU shaft end torque is requested to be 200 Nm again, or if the TCU shaft end speed is less than 50 rpm, the torque is requested to increase by 40 Nm every 10 ms, and the maximum torque request is 700 Nm.

[0040] If the TCU shaft end torque zero request is successful for 5 consecutive times, it indicates that the power take-off and the gearbox are not engaged, and the instrument power take-off symbol light flashes.

[0041] In some embodiments of the present application, further comprising: Receiving a power take-off closing instruction and determining that the target vehicle meets a second preset condition, a fourth request for the torque on the gearbox output shaft to be zero, so that the torque on the gearbox output shaft is zero.

[0042] In some embodiments of the present application, further comprising: Receiving a power take-off closing instruction and determining that the target vehicle meets a second preset condition, a fourth request for the torque on the gearbox output shaft to be zero, so that the torque on the gearbox output shaft is zero.

[0043] In a third aspect, the present application further provides a power take-off torque control method for an electric vehicle, applied to a gearbox controller, comprising: Receiving and controlling the gearbox to engage the power take-off gear based on the power take-off request; Receiving the disengagement state of the power take-off sent by the vehicle controller, controlling the torque on the gearbox output shaft to be a first preset threshold, or controlling the torque on the gearbox output shaft to be a second preset threshold.

[0044] In summary, the present embodiment controls the gear engagement by motor torque mode, can open-loop given starting torque, if the motor fails to start, then closed-loop cumulative torque, motor rotation can cut off the output torque, open-loop torque is obtained by real vehicle calibration, the torque is more accurate, and the gear engagement response is faster, which can effectively avoid the problem of gear grinding or gear tooth.

[0045] In a fourth aspect, the present application further provides an electronic device, comprising a memory and a processor, wherein, The memory is used to store programs; The processor is coupled with the memory, and is used to execute the programs stored in the memory, so as to realize the steps in the power take-off torque control method of the electric vehicle in any one of the above-mentioned implementation manners.

[0046] In a fifth aspect, the present application further provides a computer readable storage medium for storing computer readable programs or instructions, which can realize the steps in the power take-off torque control method of the electric vehicle in any one of the above-mentioned implementation manners when executed by a processor.

[0047] In order to implement the electric vehicle power take-off torque control method, the electric vehicle power take-off torque control method is based on the corresponding electric vehicle power take-off torque control device, as shown in Figure 3 The electric vehicle power take-off torque control device 300 comprises: The power take-off request module 301 is configured to receive a power take-off opening instruction and determine that the target vehicle meets a first preset condition, send a power take-off request to the transmission controller, and control the transmission to engage the power take-off gear based on the power take-off request. The torque determination module 302 is configured to send a first request to the transmission controller to set the torque on the transmission output shaft to a first preset threshold when it is determined that the engagement state of the power take-off is unsuccessful, so that the torque on the transmission output shaft is the first preset threshold, or send a second request to the transmission controller to add the torque on the transmission output shaft at a preset frequency when it is determined that the rotational speed of the transmission output shaft is less than a second preset threshold, so that the torque on the transmission output shaft is the second preset threshold. The engagement module 303 is configured to control the power take-off to engage with the transmission based on the first preset threshold or the second preset threshold.

[0048] The electric vehicle power take-off torque control device 300 provided by the above embodiment can implement the technical solutions described in the electric vehicle power take-off torque control method embodiment described above. The principles of the specific implementation of each module or unit can be referred to the corresponding content in the electric vehicle power take-off torque control method embodiment described above, which will not be described here.

[0049] As shown in Figure 4 The present application also provides an electronic device 400. The electronic device 400 comprises a processor 401, a memory 402 and a display 403. Figure 4 Only part of the components of the electronic device 400 are shown, but it should be understood that all the components shown are not required, and more or fewer components can be implemented instead.

[0050] The processor 401 can be a central processing unit (CPU), a microprocessor or other data processing chip in some embodiments, used to run the program code or process data stored in the memory 402, such as the electric vehicle power take-off torque control method.

[0051] In some embodiments, the processor 401 can be a single server or a group of servers. The group of servers can be centralized or distributed. In some embodiments, the processor 401 can be local or remote. In some embodiments, the processor 401 can be implemented in a cloud platform. In some embodiments, the cloud platform can include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an on-premises cloud, a multi-cloud, or the like, or any combination thereof.

[0052] The memory 402 can be an internal storage unit of the electronic device 400, such as a hard disk or a memory of the electronic device 400, in some embodiments. The memory 402 can also be an external storage device of the electronic device 400, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, or the like, equipped on the electronic device 400, in other embodiments.

[0053] Further, the memory 402 can include both an internal storage unit and an external storage device of the electronic device 400. The memory 402 is used to store application software and various data installed on the electronic device 400.

[0054] The display 403 can be an LED display, a liquid crystal display, a touch liquid crystal display, an OLED (Organic Light-Emitting Diode) touch, or the like, in some embodiments. The display 403 is used to display information and a visualized user interface of the electronic device 400. The components 401-403 of the electronic device 400 communicate with each other through a system bus.

[0055] In an embodiment, when the processor 401 executes an electric vehicle power take-off torque control program in the memory 402, the following steps can be implemented: receiving a power take-off opening instruction and determining that a target vehicle meets a first preset condition, sending a power take-off request to a transmission controller, and the transmission controller controlling the transmission to engage the power take-off gear based on the power take-off request; when it is determined that the engagement state of the power take-off is unsuccessful, sending a first request to the transmission controller to make the torque on the transmission output shaft a first preset threshold, so that the torque on the transmission output shaft is the first preset threshold, or when it is determined that the speed on the transmission output shaft is less than a second preset threshold, sending a second request to the transmission controller to add torque on the transmission output shaft at a preset frequency, so that the torque on the transmission output shaft is the second preset threshold; controlling the power take-off and the transmission to engage based on the first preset threshold or the second preset threshold.

[0056] It should be understood that, in addition to the above functions, the processor 401 can also implement other functions when executing the electric vehicle power take-off torque control program in the memory 402. Details can be referred to the description of the corresponding method embodiments.

[0057] Further, the embodiments of the present application do not specifically limit the type of the electronic device 400 mentioned above, and the electronic device 400 can be a portable electronic device such as a mobile phone, a tablet computer, a personal digital assistant (PDA), a wearable device, a laptop computer, etc. Exemplary embodiments of the portable electronic device include, but are not limited to, a portable electronic device running an IOS, an android, a microsoft, or other operating system. The portable electronic device described above can also be other portable electronic devices such as a laptop computer having a touch-sensitive surface (e.g., a touch panel), etc. It should also be understood that in some other embodiments of the present application, the electronic device 400 can also not be a portable electronic device, but a desktop computer having a touch-sensitive surface (e.g., a touch panel).

[0058] Those skilled in the art can understand that all or part of the processes of the above-mentioned embodiments can be completed by a computer program instructing relevant hardware, and the program can be stored in a computer readable storage medium. The computer readable storage medium includes a magnetic disk, an optical disk, a read-only memory, a random access memory, etc.

[0059] The above description is only the preferred embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A torque control method for a power take-off of an electric vehicle, applied to a vehicle controller, characterized in that: include: Upon receiving a power take-off (PTO) activation instruction and determining that the target vehicle satisfies a first preset condition, sending a PTO request to a transmission controller, the transmission controller controlling the transmission to engage the PTO gear based on the PTO request; When it is determined that the engagement state of the power take-off is unsuccessful, a first request is sent to the transmission controller for the torque on the transmission output shaft to be a first preset threshold value, so that the torque on the transmission output shaft is the first preset threshold value; or, when it is determined that the speed of the transmission output shaft is less than a second preset threshold value, a second request is sent to the transmission controller for increasing the torque on the transmission output shaft at a preset frequency, so that the torque on the transmission output shaft is the second preset threshold value; The power take-off is controlled to engage with the transmission based on the first preset threshold or the second preset threshold.

2. The electric vehicle power take-off torque control method according to claim 1, characterized in that: Determine whether the target vehicle meets the preset conditions, including: Determine whether the received Ready signal is valid; determining that the throttle depth of the target vehicle is less than a third preset threshold; Determining that a speed of the target vehicle is less than a fourth preset threshold; Determining that the shift request is N and the actual gear is N; Make sure the parking brake is in the engaged state; Make sure the auxiliary control module is not faulty; Make sure the air pump is not leaking.

3. The electric vehicle power take-off torque control method according to claim 1, characterized in that: Also includes: When it is determined that the engagement state of the power take-off is successful, an engagement success signal is sent to the transmission controller, and the power take-off working indicator light is controlled to light up.

4. The electric vehicle power take-off torque control method according to claim 1, characterized in that: After controlling the power take-off to engage with the transmission based on the first preset threshold or the second preset threshold, the method further includes: When it is determined that the engagement state of the power take-off is unsuccessful, a third request for the torque on the transmission output shaft to be a third preset threshold is sent to the transmission controller, so that the torque on the transmission output shaft is zero.

5. The electric vehicle power take-off torque control method according to claim 1, characterized in that: Also includes: When a power take-off closing instruction is received and it is determined that the target vehicle satisfies a second preset condition, a fourth request for zero torque on the transmission output shaft is made, so that the torque on the transmission output shaft is zero.

6. The electric vehicle power take-off torque control method according to claim 1, characterized in that: Determining that the target vehicle meets the second preset condition includes: Determine that the power take-off request for the power take-off is invalid; Determine that the target vehicle is in a non-Ready state; Determine that the parking brake status of the target vehicle is down; Determine if there is a fault in the auxiliary control module; Determine if the transmission fails to engage the power take-off gear a preset number of times in a row.

7. A torque control method for a power take-off of an electric vehicle, applied to a transmission controller, characterized in that: include: receiving and controlling the transmission to engage a power take-off gear based on a power take-off request; The engagement state of the power take-off received from the vehicle controller is not engaged, and the torque on the transmission output shaft is controlled to be a first preset threshold, or the torque on the transmission output shaft is controlled to be a second preset threshold.

8. A method and device for controlling torque of a power take-off of an electric vehicle, characterized in that: include: a power take-off request module, configured to receive a power take-off activation instruction and determine that a target vehicle satisfies a first preset condition, and send a power take-off request to a transmission controller, which controls the transmission to engage the power take-off gear based on the power take-off request; a torque determination module configured to, upon determining that the engagement state of the power take-off is unsuccessful, send a first request to the transmission controller for the torque on the transmission output shaft to be a first preset threshold value, so that the torque on the transmission output shaft is at the first preset threshold value; or, upon determining that the rotational speed of the transmission output shaft is less than a second preset threshold value, send a second request to the transmission controller for increasing the torque on the transmission output shaft at a preset frequency, so that the torque on the transmission output shaft is at the second preset threshold value; The engagement module is configured to control the engagement of the power take-off with the transmission based on a first preset threshold or a second preset threshold.

9. An electronic device, characterized in that: comprising a memory and a processor, wherein, The memory is used to store programs; The processor is coupled to the memory and is used to execute the program stored in the memory to implement the steps in the electric vehicle power take-off torque control method described in any one of claims 1 to 6 or 7.

10. A computer-readable storage medium, characterized in that Used to store computer-readable programs or instructions, which, when executed by a processor, can implement the steps of the electric vehicle power take-off torque control method described in any one of claims 1 to 7.

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