Vehicle torque control methods, devices, equipment and vehicles

Abstract

This application discloses a vehicle torque control method, apparatus, device, and vehicle. Relating to the field of vehicle technology, the method includes: in response to a torque request command, acquiring the desired output torque indicated by the torque request command; determining a torque allowable state based on the vehicle's real-time operating conditions, and determining a torque allowable range based on the torque allowable state, wherein the torque allowable state is allowed in all directions, allowed in some directions, or prohibited in all directions; determining a target torque based on the desired output torque and the torque allowable range, and controlling the vehicle's motor to output the target torque. This application can verify the output torque direction of the vehicle motor to improve driving safety.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a vehicle torque control method, device, equipment, and vehicle. Background Technology

[0002] With the rapid development of new energy vehicles, the power density and response speed of electric drive systems are constantly improving, which puts forward higher requirements for the accuracy of torque control in the whole vehicle.

[0003] Currently, vehicle torque control typically involves the VCU (Vehicle Control Unit) or MCU (Microcontroller Unit) directly outputting the target torque, supplemented by a single-point fault detection mechanism for basic torque output protection. However, this approach lacks verification of torque direction, potentially causing the system to output torque in the opposite direction to the desired direction, resulting in unexpected acceleration or deceleration and thus affecting driving safety.

[0004] Therefore, how to verify the output torque direction of vehicle motors to improve driving safety is an urgent problem to be solved. Summary of the Invention

[0005] The main objective of this application is to provide a vehicle torque control method, device, equipment, and vehicle, which aims to verify the direction of the output torque of the vehicle motor in order to improve driving safety.

[0006] To achieve the above objectives, this application provides a vehicle torque control method, the vehicle torque control method comprising:

[0007] In response to a torque request command, the desired output torque indicated by the torque request command is obtained;

[0008] The allowable torque state is determined based on the real-time operating conditions of the vehicle, and the allowable torque range is determined based on the allowable torque state, wherein the allowable torque state is allowed in all directions, allowed in some directions, or prohibited in all directions;

[0009] The target torque is determined based on the desired output torque and the allowable torque range, and the vehicle's motor is controlled to output the target torque.

[0010] In one embodiment, the step of determining the allowable torque range based on the allowable torque state includes:

[0011] When the torque allowable state is all-directionally permissible, the torque allowable range is determined to be the safe torque range allowed by the vehicle's motor;

[0012] When the torque-allowed state is all-directional prohibition, the torque-allowed range is determined to be zero torque;

[0013] When the torque allowable state is partially directionally permissible, the torque allowable range is determined based on the torque allowable state and the vehicle's real-time gear position.

[0014] In one embodiment, the partial direction allowance includes allowing drive output, and when the torque allowance state is allowing drive output, the step of determining the torque allowable range based on the torque allowance state and the real-time gear position of the vehicle includes:

[0015] When the vehicle is in neutral or park, the allowable torque range is determined to be zero torque.

[0016] When the vehicle is in drive at real time, the allowable torque range is determined to include zero torque and positive torque range, wherein the upper limit of the positive torque range is the upper limit of the safe torque range.

[0017] When the vehicle is in reverse gear in real time, the allowable torque range is determined to include the reverse torque range and zero torque, wherein the lower limit of the reverse torque range is the lower limit of the safe torque range.

[0018] In one embodiment, the partial directional allowance includes allowing braking output. When the torque allowance state is when braking output is allowed, the step of determining the allowable torque range based on the torque allowance state and the vehicle's real-time gear position includes:

[0019] When the vehicle is in neutral or park, the allowable torque range is determined to be zero torque.

[0020] When the vehicle is in a forward gear at real time, the allowable torque range is determined to include the reverse torque range and zero torque.

[0021] When the vehicle is in reverse gear at real time, the allowable torque range is determined to include both zero torque and forward torque range.

[0022] In one embodiment, the step of determining the target torque based on the desired output torque and the allowable torque range includes:

[0023] Determine whether the desired output torque is within the allowable torque range;

[0024] If the desired output torque is within the allowable torque range, the desired output torque is taken as the target torque;

[0025] If the desired output torque is not within the allowable torque range, the value within the allowable torque range that is closest to the desired output torque shall be taken as the target torque.

[0026] In one embodiment, the step of determining the target torque based on the desired output torque and the allowable torque range includes:

[0027] If the upper limit of the allowable torque range is greater than zero, and / or the lower limit of the allowable torque range is less than zero, and if the target torque allowable state at the current moment is prohibited in all directions, then the allowable torque range is updated.

[0028] If the allowable torque range includes zero torque and positive torque range, or if the allowable torque range includes reverse torque range and zero torque, and if the target allowable torque state at the current moment is consistent with the allowable torque state, and the target real-time gear at the current moment is different from the real-time gear, then the allowable torque range is updated.

[0029] The target torque is determined based on the updated torque allowable range and the desired output torque.

[0030] In one embodiment, when the upper limit of the allowable torque range is greater than zero, the step of updating the allowable torque range includes:

[0031] Based on the real-time speed and real-time torque of the motor, a first transition slope is determined, wherein the first transition slope is the slope of the change of the upper limit of the positive torque range;

[0032] A new upper limit value is determined based on the upper limit value of the positive torque range and the first transition slope;

[0033] The positive torque range is updated based on the new upper limit value to obtain a new positive torque range;

[0034] The torque allowable range is updated based on the new positive torque range.

[0035] In one embodiment, when the lower limit of the allowable torque range is less than zero, the step of updating the allowable torque range includes:

[0036] Based on the real-time speed and real-time torque of the motor, a second transition slope is determined, wherein the second transition slope is the slope of the change of the lower limit of the reverse torque range;

[0037] A new lower limit value is determined based on the lower limit value of the reverse torque range and the second transition slope;

[0038] The reverse torque range is updated based on the new lower limit value to obtain a new reverse torque range;

[0039] The torque allowable range is updated based on the new reverse torque range.

[0040] Furthermore, to achieve the above objectives, this application also provides a vehicle torque control device, the vehicle torque control device comprising:

[0041] A response module is used to obtain the desired output torque indicated by the torque request command in response to the torque request command;

[0042] The determination module is used to determine the torque allowable state based on the real-time operating conditions of the vehicle, and to determine the torque allowable range based on the torque allowable state, wherein the torque allowable state is allowed in all directions, allowed in some directions, or prohibited in all directions;

[0043] The control module is used to determine the target torque based on the desired output torque and the allowable torque range, and to control the vehicle's motor to output the target torque.

[0044] In addition, to achieve the above objectives, this application also proposes an electronic device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the vehicle torque control method as described above.

[0045] In addition, to achieve the above objectives, this application also proposes a vehicle that includes the electronic equipment described above.

[0046] In addition, to achieve the above objectives, this application also provides a storage medium, which is a computer-readable storage medium, on which a program for implementing a vehicle torque control method is stored, and the program for implementing the vehicle torque control method is executed by a processor to implement the steps of the vehicle torque control method as described above.

[0047] In addition, to achieve the above objectives, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the vehicle torque control method described above.

[0048] This application provides a vehicle torque control method. In response to a torque request command, the method obtains the desired output torque indicated by the torque request command; determines the torque allowable state based on the real-time operating conditions of the vehicle, wherein the torque allowable state is allowed in all directions, allowed in some directions, or prohibited in all directions; determines the torque allowable range based on the torque allowable state; and finally, determines the target torque based on the desired output torque and the torque allowable range, and controls the vehicle's motor to output the target torque.

[0049] In summary, this application determines the allowable torque range based on the allowable torque state, which characterizes the allowable torque direction, and then determines the final allowable target torque based on the desired output torque indicated by the torque request command and the allowable torque range. Compared to the traditional method that only judges the numerical magnitude of the torque output, this application determines the allowable torque range based on the allowable torque state, adding verification of the torque direction, thereby avoiding unintended torque control and improving driving safety. Attached Figure Description

[0050] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0051] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0052] Figure 1 This is a flowchart illustrating the first embodiment of the vehicle torque control method of this application;

[0053] Figure 2 This is a schematic diagram of the torque direction verification process involved in an embodiment of the vehicle torque control method of this application;

[0054] Figure 3 This is a schematic diagram of the slope transition process involved in an embodiment of the vehicle torque control method of this application;

[0055] Figure 4 This is a schematic diagram of the module structure of the vehicle torque control device of this application;

[0056] Figure 5 This is a schematic diagram of the equipment structure of the hardware operating environment involved in the vehicle torque control method in the embodiments of this application.

[0057] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0058] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0059] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0060] Currently, vehicle torque control typically involves the VCU (Vehicle Control Unit) or MCU (Microcontroller Unit) directly outputting the target torque, supplemented by a single-point fault detection mechanism for basic torque output protection. However, this approach lacks verification of torque direction, potentially causing the system to output torque in the opposite direction to the desired direction, resulting in unexpected acceleration or deceleration and thus affecting driving safety.

[0061] Therefore, how to verify the output torque direction of vehicle motors to improve driving safety is an urgent problem to be solved.

[0062] The main solution of this application is: in response to a torque request command, obtain the desired output torque indicated by the torque request command; determine the torque allowable state based on the real-time operating conditions of the vehicle, and determine the torque allowable range based on the torque allowable state, wherein the torque allowable state is allowed in all directions, allowed in some directions, or prohibited in all directions; determine the target torque based on the desired output torque and the torque allowable range, and control the vehicle's motor to output the target torque.

[0063] This application determines the allowable torque range based on the allowable torque state, which characterizes the allowable torque direction, and then determines the final allowable target torque based on the desired output torque indicated by the torque request command and the allowable torque range. Compared to the traditional method that only judges the numerical magnitude of the torque output, this application determines the allowable torque range based on the allowable torque state, adding verification of the torque direction, thereby avoiding unintended torque control and improving driving safety.

[0064] It should be noted that the execution subject of the vehicle torque control method in various embodiments of this application can be a vehicle torque control system, or a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, mobile phone, etc., or an electronic device capable of realizing the above functions, etc. This embodiment does not specifically limit it in this way. The following uses the vehicle torque control system as the execution subject as an example to describe this embodiment and the following embodiments.

[0065] Based on this, this application proposes a vehicle torque control method according to a first embodiment, please refer to... Figure 1 The vehicle torque control method includes steps S10 to S30:

[0066] Step S10: In response to the torque request command, obtain the desired output torque indicated by the torque request command;

[0067] The driver triggers a torque request command by operating the vehicle's torque control unit. Upon detecting the torque request command, the system responds to the torque request command by acquiring the output torque indicated in the torque request command (hereinafter referred to as the desired output torque for distinction).

[0068] Step S20: Determine the allowable torque state based on the real-time operating conditions of the vehicle, and determine the allowable torque range based on the allowable torque state, wherein the allowable torque state is allowed in all directions, allowed in some directions, or prohibited in all directions;

[0069] It should be noted that the real-time operating condition of the vehicle includes at least the real-time parameters of the vehicle's powertrain, energy system, and key components. The torque allowable state can be all-directionally allowed, partially-directionally allowed, or all-directionally prohibited. All-directionally allowed means the vehicle's motors are allowed to output both positive and negative torque; partially-directionally allowed means the vehicle's motors are allowed to provide driving output (for maintaining speed or acceleration) or braking output (for deceleration or braking); all-directionally prohibited means the vehicle's motors are prohibited from outputting either positive or negative torque, i.e., no torque output. A mapping table between the vehicle's real-time operating condition and the torque allowable state is pre-established. Based on the vehicle's real-time operating condition, the corresponding torque allowable state in the mapping table is looked up.

[0070] The allowable torque state is determined based on the vehicle's real-time operating conditions, and then the allowable torque range is determined based on the allowable torque state. The allowable torque range refers to the range of torque allowed by the vehicle's motor under the current vehicle operating conditions.

[0071] Step S30: Determine the target torque based on the desired output torque and the allowable torque range, and control the vehicle's motor to output the target torque.

[0072] The final allowable output torque (hereinafter referred to as the target torque for distinction) is determined based on the desired output torque and the allowable torque range, and the vehicle's motor is controlled to operate at the target torque as the output torque.

[0073] In this embodiment, step S30 may include:

[0074] Step S301: Determine whether the desired output torque is within the allowable torque range;

[0075] Step S302: If the desired output torque is within the torque allowable range, the desired output torque is taken as the target torque;

[0076] Step S303: If the desired output torque is not within the allowable torque range, the value within the allowable torque range that is closest to the desired output torque is taken as the target torque.

[0077] First, determine whether the expected output torque is within the allowable torque range. If so, the expected output torque is directly used as the target torque. If not, the value closest to the expected output torque within the allowable torque range is used as the target torque. That is, the final target torque value is the upper or lower limit of the allowable torque range.

[0078] This application, through its embodiments, determines the allowable torque range based on the allowable torque state, which characterizes the allowable torque direction, and then determines the final allowable target torque based on the desired output torque indicated by the torque request command and the allowable torque range. Compared to the traditional method that only determines the numerical magnitude of the torque output, this application, by determining the allowable torque range based on the allowable torque state, adds verification of the torque direction, thereby avoiding unintended torque control and improving driving safety.

[0079] In this embodiment, step S20 may include:

[0080] Step S201: When the torque allowable state is all-directionally permissible, determine the torque allowable range as the safe torque range allowed by the vehicle's motor.

[0081] It should be noted that the range of output torque that the motor can withstand, i.e., the aforementioned safe torque range, is determined in advance based on the type of motor on the vehicle, its design parameters, and the load-bearing capacity of key components. It can be understood that the upper limit of the safe torque range is the maximum positive torque that the motor can withstand, and the lower limit is the minimum reverse torque that the motor can withstand.

[0082] When the torque allowable state corresponding to the real-time operating conditions of the vehicle is allowed in all directions, the allowable torque range is determined to be the safe torque range allowed by the vehicle motor.

[0083] Step S202: When the torque allowable state is prohibited in all directions, determine that the torque allowable range is zero torque;

[0084] When the torque allowable state corresponding to the real-time operating condition of the vehicle is all directions prohibited, the torque allowable range is determined to be zero torque, that is, only the motor output torque is allowed to be 0, which is equivalent to no torque output.

[0085] In one feasible implementation, the system determines the corresponding torque enable request (TorqueEnable Request), i.e., the aforementioned torque allowable state, based on the vehicle's real-time operating conditions. All-directional prohibition is represented as NoTq (no torque). When the torque allowable state is all-directional prohibition, both the maximum available torque TqMax and the minimum available torque TqMin are limited to 0, meaning the torque allowable range is zero torque. All-directional allowance is represented as TqPrpAndRgtv (drive + brake), which can also be understood as forward + reverse, indicating that the vehicle is allowed to "move forward" or "reverse" in the direction indicated by the real-time gear position. When the torque allowable state is all-directional allowance, neither the maximum available torque TqMax nor the minimum available torque TqMin is limited. The safe torque range allowed by the vehicle's motor is used as the torque allowable range; that is, the motor is allowed to output both forward and reverse torque, only limiting the output torque to within the safe torque range.

[0086] Step S203: When the torque allowable state is partially directionally permissible, determine the torque allowable range based on the torque allowable state and the real-time gear position of the vehicle.

[0087] If the torque allowable state corresponding to the vehicle's real-time operating conditions is partially permissible, the allowable torque range is further determined by combining the vehicle's real-time gear position.

[0088] In this embodiment, the partial direction permission includes allowing drive output. When the torque permission state is allowing drive output, step S203 may include:

[0089] Step A10: If the vehicle's real-time gear position is neutral or park, determine that the allowable torque range is zero torque.

[0090] It should be noted that some directions may include allowable drive output, that is, allow the vehicle motor to output torque to maintain the vehicle's original speed or accelerate in the current direction of travel.

[0091] When the torque is allowed to drive, the vehicle's real-time gear position is obtained. If the vehicle's real-time gear position is neutral or park, the torque allowable range is determined to be zero torque, that is, only the motor output torque is allowed to be 0, which is equivalent to no torque output.

[0092] Step A20: When the vehicle's real-time gear is forward, determine that the allowable torque range includes zero torque and positive torque range, wherein the upper limit of the positive torque range is the upper limit of the safe torque range.

[0093] When the torque is allowed to drive and the vehicle is in a forward gear, the allowable torque range includes both zero torque and the positive torque range. The upper limit of the positive torque range is the upper limit of the safe torque range. In other words, the positive torque range refers to the set of positive torques that are less than or equal to the upper limit of the safe torque range. The allowable torque range is the union of the zero torque and the positive torque range.

[0094] Step A30: When the vehicle's real-time gear is reverse, determine that the allowable torque range includes the reverse torque range and zero torque, wherein the lower limit of the reverse torque range is the lower limit of the safe torque range.

[0095] When the torque is allowed to drive and the vehicle is in reverse gear, the allowable torque range is determined by including the reverse torque range and zero torque. The lower limit of the reverse torque range is the lower limit of the safe torque range. In other words, the reverse torque range refers to the set of reverse torques that are greater than or equal to the lower limit of the safe torque range. The allowable torque range is the union of the reverse torque range and zero torque.

[0096] In one feasible implementation, the permissible drive output is represented as TqPrp (drive only), which can also be understood as forward only, meaning that the vehicle is only allowed to "move forward" in the direction of travel indicated by the real-time gear position. When the torque permissible state is permissible drive output, the step of determining the permissible torque range based on the vehicle's real-time gear position includes: when the vehicle's real-time gear is neutral (N) or park (P), limiting the maximum available torque TqMax and minimum available torque TqMin to 0, i.e., the permissible torque range is zero torque; when the vehicle's real-time gear is drive (D), the maximum available torque TqMax is not limited, but the minimum available torque TqMin is limited to 0, i.e., the permissible torque range is the union of zero torque and the positive torque range, to allow the vehicle to maintain its original speed or accelerate in the forward direction; when the vehicle's real-time gear is reverse, the minimum available torque TqMin is not limited, but the maximum available torque TqMin is limited to 0, i.e., the permissible torque range is the union of the reverse torque range and zero torque, to allow the vehicle to maintain its original speed or accelerate in the reverse direction.

[0097] It should be understood that the above statement regarding the maximum usable torque TqMax not being limited means that the maximum value within the safe torque range is taken as the maximum usable torque TqMax; and the statement regarding the minimum usable torque TqMin not being limited means that the minimum value within the safe torque range is taken as the minimum usable torque TqMin. This achieves basic protection for the motor's output torque.

[0098] In this embodiment, the partial direction permission includes allowing braking output. When the torque permission state is when braking output is allowed, step S203 may include:

[0099] Step B10: If the vehicle's real-time gear position is neutral or park, determine that the allowable torque range is zero torque.

[0100] It should be noted that some directions are allowed to include braking output, that is, the vehicle motor is allowed to output torque to decelerate or brake the vehicle in the current direction of travel.

[0101] When the torque is allowed to allow braking output, the vehicle's real-time gear position is obtained. If the vehicle's real-time gear position is neutral or park, the torque allowable range is determined to be zero torque, that is, only the motor output torque is allowed to be 0, which is equivalent to no torque output.

[0102] Step B20: If the vehicle's real-time gear is forward, determine the allowable torque range, including the reverse torque range and zero torque.

[0103] When the torque allowable condition is that braking output is permitted and the vehicle's real-time gear is forward, the allowable torque range is determined by including the reverse torque range and zero torque. The allowable torque range is the union of the reverse torque range and zero torque.

[0104] Step B30, when the vehicle's real-time gear is reverse, determines the allowable torque range, including the zero torque and forward torque range.

[0105] When the torque allowable condition is that braking output is permitted and the vehicle's current gear is reverse, the allowable torque range is determined to include both the zero torque and the positive torque range. The allowable torque range is the union of the zero torque and the positive torque range.

[0106] In one feasible implementation, the permissible braking output is represented as TqRgtv (braking only), which can also be understood as reverse only, meaning that the vehicle is only allowed to "reverse" in the direction of travel indicated by the real-time gear position. When the torque permissible state is when braking output is permissible, the step of determining the permissible torque range based on the vehicle's real-time gear position includes: when the vehicle's real-time gear is neutral (N) or park (P), limiting the maximum available torque TqMax and minimum available torque TqMin to 0, i.e., the permissible torque range is zero torque; when the vehicle's real-time gear is drive (D), not limiting the minimum available torque TqMin, but limiting the maximum available torque TqMin to 0, i.e., the permissible torque range is the union of the reverse torque range and zero torque, to allow the vehicle to decelerate or brake in the forward direction; when the vehicle's real-time gear is reverse, not limiting the maximum available torque TqMax, but limiting the minimum available torque TqMin to 0, i.e., the permissible torque range is the union of zero torque and the forward torque range, to allow the vehicle to decelerate or brake in the reverse direction.

[0107] For example, such as Figure 2 The diagram illustrates the torque direction verification process. First, the torque request command is monitored. Upon receiving the torque request command, the desired output torque indicated by the command is obtained. The real-time vehicle operating conditions are acquired, and the torque allowable state is determined based on these conditions. When the torque allowable state is all directions allowed, the torque allowable range is the safe torque range [-T1, T2]. When the torque allowable state is all directions prohibited, the torque allowable range is 0. When the torque allowable state is partially directions allowed, the torque allowable range is determined based on the torque allowable state and the vehicle's real-time gear position. Specifically, when the torque allowable state allows drive output and the vehicle's real-time gear position is neutral or park, the torque allowable range is 0. Furthermore, when the vehicle is in drive gear, the allowable torque range is [0, T2]; when the torque is allowed to drive output and the vehicle is in reverse gear, the allowable torque range is [-T1, 0]; when the torque is allowed to brake output and the vehicle is in neutral or park gear, the allowable torque range is 0; when the torque is allowed to brake output and the vehicle is in drive gear, the allowable torque range is [-T1, 0]; when the torque is allowed to brake output and the vehicle is in reverse gear, the allowable torque range is [0, T2]; finally, based on the desired output torque and the allowable torque range, the target torque is determined, and the vehicle motor is controlled to operate with the target torque as the output torque.

[0108] Thus, this application expands the traditional binary torque authorization of "allowing torque output / prohibiting torque output" into four torque-allowing states: all directions allowed, driving output allowed, braking output allowed, and all directions prohibited. Combined with the vehicle's real-time gear position, a composite logic verification is performed to ensure that when the torque-allowing state conflicts with the gear direction, the maximum available torque is immediately forced to 0 (e.g., only forward is allowed but R gear is detected) or the minimum available torque is forced to 0 (e.g., only reverse is allowed but D gear is detected). This avoids torque direction output that is inconsistent with the driving direction indicated by the current torque-allowing state, directly eliminating the safety risk of unexpected acceleration / deceleration due to incorrect direction in traditional technologies.

[0109] Based on the first embodiment of this application, in the second embodiment of this application, the content that is the same as or similar to that in the first embodiment described above can be referred to the above description and will not be repeated hereafter. Based on this, step S30 may include:

[0110] Step C10: If the upper limit of the allowable torque range is greater than zero, and / or the lower limit of the allowable torque range is less than zero, and if the target torque allowable state at the current moment is prohibited in all directions, then update the allowable torque range.

[0111] If the upper limit of the allowable torque range is greater than zero, and / or the lower limit of the allowable torque range is less than zero, it indicates that the allowable torque range includes zero torque and the positive torque range, the allowable torque range includes the reverse torque range and zero torque, or the allowable torque range is a safe torque range. Determine the allowable torque state corresponding to the real-time operating condition of the vehicle at the current moment (hereinafter referred to as the target allowable torque state for distinction). If the target allowable torque state at the current moment switches to all directions prohibited, update the allowable torque range.

[0112] For example, when the allowable torque range includes zero torque and the positive torque range, it means that the allowable torque state at the previous moment was either allowable drive output or allowable braking output. If the allowable torque state at the current moment is prohibited in all directions, then the upper limit of the allowable torque range is required to be zero, so the allowable torque range needs to be updated. When the allowable torque range includes the reverse torque range and zero torque, it means that the allowable torque state at the previous moment was either allowable drive output or allowable braking output. If the allowable torque state at the current moment is prohibited in all directions, then the lower limit of the allowable torque range is required to be zero, so the allowable torque range needs to be updated. When the allowable torque range is a safe torque range, it means that the allowable torque state at the previous moment was allowed in all directions. If the allowable torque state at the current moment is prohibited in all directions, then both the upper limit and the lower limit of the allowable torque range are required to be zero, so the allowable torque range needs to be updated. Here, the allowable torque state at the previous moment refers to the allowable torque state determined when executing step S20, and the allowable torque state at the current moment refers to the target allowable torque state.

[0113] Step C20: If the allowable torque range includes zero torque and positive torque range, or if the allowable torque range includes reverse torque range and zero torque, and if the target allowable torque state at the current moment is consistent with the allowable torque state, and the target real-time gear at the current moment is different from the real-time gear, then update the allowable torque range.

[0114] If the allowable torque range includes zero torque and positive torque range, or if the allowable torque range includes reverse torque range and zero torque, obtain the current real-time gear (hereinafter referred to as the target real-time gear for distinction). If the target torque allowable state and the torque allowable state are consistent, and the current real-time gear is different from the previous real-time gear, then update the current torque allowable range.

[0115] For example, when the allowable torque range includes both zero torque and positive torque, it indicates that the real-time gear at the previous moment was either forward or reverse. If the allowable torque state remains unchanged and the current real-time gear is different from the previous real-time gear, then the current real-time gear requires the upper limit of the allowable torque range to be zero, so the allowable torque range needs to be updated. When the allowable torque range includes both reverse torque and zero torque, it indicates that the real-time gear at the previous moment was either forward or reverse. If the allowable torque state remains unchanged and the current real-time gear is different from the previous real-time gear, then the current real-time gear requires the upper limit of the allowable torque range to be zero, so the allowable torque range needs to be updated. It should be noted that the real-time gear at the previous moment refers to the real-time gear obtained during step S203.

[0116] Step C30: Determine the target torque based on the updated torque allowable range and the desired output torque.

[0117] The current allowable torque range is updated to obtain the updated allowable torque range, and the target torque is determined based on the updated allowable torque range and the desired output torque.

[0118] For example, the step of determining the target torque based on the updated torque allowable range and the desired output torque includes: determining whether the desired output torque is within the updated torque allowable range; if so, directly using the desired output torque as the target torque; if not, using the value within the updated torque allowable range that is closest to the desired output torque as the target torque.

[0119] In this embodiment, when the upper limit of the allowable torque range is greater than zero, step C20 may include:

[0120] Step C201: Based on the real-time speed and real-time torque of the motor, determine the first transition slope, wherein the first transition slope is the slope of the change of the upper limit of the positive torque range;

[0121] It should be noted that the upper limit of the allowable torque range being greater than zero includes cases where the allowable torque range includes both zero torque and positive torque range, and cases where the allowable torque range is the safe torque range. The slope of the change in the upper limit of the positive torque range (i.e., the maximum usable torque within the allowable torque range) is referred to as the first transition slope for distinction. A mapping table between motor speed and motor torque and the first transition slope (hereinafter referred to as the first mapping table for distinction) is pre-constructed.

[0122] Based on the real-time speed and real-time torque of the motor, find the corresponding first transition slope in the first mapping table.

[0123] For example, the real-time speed EmSpdAct and real-time torque EmTqAct of the motor are obtained, and the corresponding first transition slope is found in the first mapping table based on EmSpdAct and EmTqAct.

[0124] Step C202: Determine a new upper limit value based on the upper limit value of the positive torque range and the first transition slope;

[0125] The upper limit of the positive torque range is adjusted according to the first transition slope to obtain a new upper limit value.

[0126] For example, if the upper limit of the positive torque range is 100 N·m and the first transition slope is 10 N·m / ms, then the new upper limit is determined to be 90 N·m, that is, the corresponding adjustment step size is 1 ms. This application embodiment does not limit the size of the adjustment step size.

[0127] Step C203: Update the positive torque range based on the new upper limit value to obtain a new positive torque range;

[0128] The new upper limit value replaces the upper limit value in the positive torque range, resulting in a new positive torque range.

[0129] Step C204: Update the allowable torque range based on the new positive torque range.

[0130] The new positive torque range replaces the positive torque range in the torque allowable range, resulting in the updated torque allowable range.

[0131] In this embodiment, when the lower limit of the allowable torque range is less than zero, step C20 may include:

[0132] Step C205: Based on the real-time speed and real-time torque of the motor, determine the second transition slope, wherein the second transition slope is the slope of the change of the lower limit of the reverse torque range;

[0133] It should be noted that the upper limit of the allowable torque range being greater than zero includes cases where the allowable torque range includes both the reverse torque range and zero torque, and cases where the allowable torque range is the safe torque range. The slope of the change in the lower limit of the reverse torque range (i.e., the minimum usable torque within the allowable torque range) is referred to as the second transition slope for distinction. A mapping table between motor speed, motor torque, and the second transition slope (hereinafter referred to as the second mapping table for distinction) is pre-constructed.

[0134] Based on the motor's real-time speed and real-time torque, find the corresponding second transition slope in the second mapping table.

[0135] For example, the real-time speed EmSpdAct and real-time torque EmTqAct of the motor are obtained, and the corresponding second transition slope is looked up in the second mapping table based on EmSpdAct and EmTqAct.

[0136] Step C206: Determine a new lower limit value based on the lower limit value of the reverse torque range and the second transition slope;

[0137] The lower limit of the reverse torque range is adjusted according to the second transition slope to obtain a new lower limit.

[0138] For example, if the lower limit of the reverse torque range is -100 N·m and the second transition slope is -10 N·m / ms, then the new lower limit is determined to be -90 N·m, that is, the corresponding adjustment step size is 1 ms. This application embodiment does not limit the size of the adjustment step size.

[0139] Step C207: Update the reverse torque range based on the new lower limit value to obtain a new reverse torque range;

[0140] The new lower limit value replaces the lower limit value in the reverse torque range to obtain the new reverse torque range.

[0141] Step C208: Update the torque allowable range based on the new reverse torque range.

[0142] Replace the reverse torque range in the torque allowable range with the new reverse torque range to obtain the updated torque allowable range.

[0143] For example, such as Figure 3 The diagram illustrates the slope transition process. When the upper limit of the allowable torque range is greater than 0 and / or the lower limit of the allowable torque range is less than 0, it checks whether the allowable torque state has switched to all-directional prohibition. If so, the allowable torque range is updated based on the first transition slope and / or the second transition slope. Furthermore, when the allowable torque range is [0, T2] or [-T1, 0], it checks whether the allowable torque state remains unchanged and the gear changes in real time. If so, the allowable torque range is updated based on the first transition slope or the second transition slope. Based on the updated allowable torque range and the desired output torque, the target torque is determined, and the motor is controlled to output the target torque.

[0144] Thus, in this embodiment, during state transition, not only can the amplitude slope be limited, but the directional change can also be independently and gradually processed: first, the torque is reduced to zero with a calibrable "directional transition slope," and then gradually restored along the new direction according to the "amplitude transition slope." This two-stage transition strategy makes the torque curve continuously differentiable in the time domain, significantly reducing mechanical shock and NVH (Noise, Vibration, Harshness), and solving the comfort deficiency of "jerking caused by amplitude filtering alone" in traditional technologies.

[0145] Furthermore, this application embodiment introduces a two-level arbitration at the system level: First, within the functional safety framework, the torque allowance signal is subdivided into four categories: no torque, forward only, reverse only, and forward and reverse. The direction of the currently allowed maximum and minimum torque is determined based on the torque allowance signal. Then, a secondary verification is performed in conjunction with the gear position signal. If a directional conflict occurs, the available torque in the corresponding direction is immediately limited to zero with a calibrated gradual increase slope to prevent step shocks. This ensures that torque changes are smooth, continuous, and comply with safety constraints during any directional switch. Additionally, this application embodiment introduces a smooth transition algorithm that couples direction and amplitude during each state transition, ensuring that the torque change rate satisfies the ASIL-D (Automotive Safety Integrity Level D) fault tolerance time window while also considering driving comfort and transmission lifespan.

[0146] This application also provides a vehicle torque control device; please refer to... Figure 4 The vehicle torque control device includes:

[0147] Response module 10 is used to obtain the desired output torque indicated by the torque request command in response to the torque request command;

[0148] The determining module 20 is used to determine the torque allowable state based on the real-time operating conditions of the vehicle, and to determine the torque allowable range based on the torque allowable state, wherein the torque allowable state is allowed in all directions, allowed in some directions, or prohibited in all directions;

[0149] The control module 30 is used to determine the target torque based on the desired output torque and the allowable torque range, and control the motor of the vehicle to output the target torque.

[0150] Optionally, the determining module 20 is further configured to:

[0151] When the torque allowable state is all-directionally permissible, the torque allowable range is determined to be the safe torque range allowed by the vehicle's motor;

[0152] When the torque-allowed state is all-directional prohibition, the torque-allowed range is determined to be zero torque;

[0153] When the torque allowable state is partially directionally permissible, the torque allowable range is determined based on the torque allowable state and the vehicle's real-time gear position.

[0154] Optionally, the partial direction permission includes allowing drive output, and when the torque permission state is allowing drive output, the determining module 20 is further configured to:

[0155] When the vehicle is in neutral or park, the allowable torque range is determined to be zero torque.

[0156] When the vehicle is in drive at real time, the allowable torque range is determined to include zero torque and positive torque range, wherein the upper limit of the positive torque range is the upper limit of the safe torque range.

[0157] When the vehicle is in reverse gear in real time, the allowable torque range is determined to include the reverse torque range and zero torque, wherein the lower limit of the reverse torque range is the lower limit of the safe torque range.

[0158] Optionally, the partial direction permission includes allowing braking output, and when the torque permission state is allowing braking output, the determining module 20 is further configured to:

[0159] When the vehicle is in neutral or park, the allowable torque range is determined to be zero torque.

[0160] When the vehicle is in a forward gear at real time, the allowable torque range is determined to include the reverse torque range and zero torque.

[0161] When the vehicle is in reverse gear at real time, the allowable torque range is determined to include both zero torque and forward torque range.

[0162] Optionally, the control module 30 is further configured to:

[0163] Determine whether the desired output torque is within the allowable torque range;

[0164] If the desired output torque is within the allowable torque range, the desired output torque is taken as the target torque;

[0165] If the desired output torque is not within the allowable torque range, the value within the allowable torque range that is closest to the desired output torque shall be taken as the target torque.

[0166] Optionally, the control module 30 is further configured to:

[0167] If the upper limit of the allowable torque range is greater than zero, and / or the lower limit of the allowable torque range is less than zero, and if the target torque allowable state at the current moment is prohibited in all directions, then the allowable torque range is updated.

[0168] If the allowable torque range includes zero torque and positive torque range, or if the allowable torque range includes reverse torque range and zero torque, and if the target allowable torque state at the current moment is consistent with the allowable torque state, and the target real-time gear at the current moment is different from the real-time gear, then the allowable torque range is updated.

[0169] The target torque is determined based on the updated torque allowable range and the desired output torque.

[0170] Optionally, when the upper limit of the allowable torque range is greater than zero, the control module 30 is further configured to:

[0171] Based on the real-time speed and real-time torque of the motor, a first transition slope is determined, wherein the first transition slope is the slope of the change of the upper limit of the positive torque range;

[0172] A new upper limit value is determined based on the upper limit value of the positive torque range and the first transition slope;

[0173] The positive torque range is updated based on the new upper limit value to obtain a new positive torque range;

[0174] The torque allowable range is updated based on the new positive torque range.

[0175] Optionally, when the lower limit of the allowable torque range is less than zero, the control module 30 is further configured to:

[0176] Based on the real-time speed and real-time torque of the motor, a second transition slope is determined, wherein the second transition slope is the slope of the change of the lower limit of the reverse torque range;

[0177] A new lower limit value is determined based on the lower limit value of the reverse torque range and the second transition slope;

[0178] The reverse torque range is updated based on the new lower limit value to obtain a new reverse torque range;

[0179] The torque allowable range is updated based on the new reverse torque range.

[0180] The vehicle torque control device provided in this application, employing the vehicle torque control method described in the above embodiments, can solve the technical problem of how to verify the output torque direction of the vehicle motor to improve driving safety. Compared with the prior art, the beneficial effects of the vehicle torque control device provided in this application are the same as those of the vehicle torque control method provided in the above embodiments, and other technical features in the vehicle torque control device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0181] This application provides an electronic device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the vehicle torque control method in Embodiment 1 above.

[0182] The following is for reference. Figure 5 The diagram illustrates a structural schematic of an electronic device suitable for implementing embodiments of this application. The electronic devices in these embodiments may include, but are not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 5 The electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0183] like Figure 5 As shown, the electronic device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory 1002 or a program loaded from a storage device 1003 into a random access memory 1004. The random access memory 1004 also stores various programs and data required for the operation of the electronic device. The processing unit 1001, the read-only memory 1002, and the random access memory 1004 are interconnected via a bus 1005. An input / output interface 1006 is also connected to the bus. Typically, the following systems can be connected to the input / output interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. The communication device 1009 allows the electronic device to communicate wirelessly or wiredly with other devices to exchange data. Although the diagrams show electronic devices with various systems, it should be understood that it is not required to implement or have all of the systems shown. More or fewer systems may be implemented alternatively.

[0184] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from read-only memory 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0185] The electronic device provided in this application, employing the vehicle torque control method described in the above embodiments, can solve the technical problem of how to verify the output torque direction of the vehicle motor to improve driving safety. Compared with the prior art, the beneficial effects of the electronic device provided in this application are the same as those of the vehicle torque control method provided in the above embodiments, and other technical features of this electronic device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0186] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0187] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0188] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the vehicle torque control method in the above embodiments.

[0189] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0190] The aforementioned computer-readable storage medium may be included in an electronic device or may exist independently without being assembled into an electronic device.

[0191] The aforementioned computer-readable storage medium carries one or more programs that, when executed by an electronic device, cause the electronic device to: in response to a torque request command, acquire the desired output torque indicated by the torque request command; determine a torque allowable state based on the vehicle's real-time operating conditions, and determine a torque allowable range based on the torque allowable state, wherein the torque allowable state is allowed in all directions, allowed in some directions, or prohibited in all directions; determine a target torque based on the desired output torque and the torque allowable range, and control the vehicle's motor to output the target torque.

[0192] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0193] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0194] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0195] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described vehicle torque control method. This solves the technical problem of how to verify the output torque direction of a vehicle motor to improve driving safety. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the vehicle torque control method provided in the above embodiments, and will not be repeated here.

[0196] This application provides a vehicle having the electronic equipment described above, the electronic equipment being used to execute the vehicle torque control method in the above embodiments.

[0197] This application provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the vehicle torque control method described above.

[0198] The computer program product provided in this application can verify the output torque direction of a vehicle motor, thereby improving driving safety. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the vehicle torque control method provided in the above embodiments, and will not be repeated here.

[0199] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent scope of this application.

Claims

1. A vehicle torque control method, characterized in that, The vehicle torque control method includes: In response to a torque request command, the desired output torque indicated by the torque request command is obtained; The allowable torque state is determined based on the real-time operating conditions of the vehicle, and the allowable torque range is determined based on the allowable torque state, wherein the allowable torque state is allowed in all directions, allowed in some directions, or prohibited in all directions; Based on the desired output torque and the allowable torque range, a target torque is determined, and the vehicle's motor is controlled to output the target torque. The step of determining the allowable torque range based on the allowable torque state includes: When the torque allowable state is all-directionally permissible, the torque allowable range is determined to be the safe torque range allowed by the vehicle's motor; When the torque-allowed state is all-directional prohibition, the torque-allowed range is determined to be zero torque; When the torque allowable state is partially directionally permissible, the torque allowable range is determined based on the torque allowable state and the vehicle's real-time gear position.

2. The vehicle torque control method as described in claim 1, characterized in that, The partial direction allowance includes allowing drive output, and when the torque allowance state is allowing drive output, the step of determining the torque allowance range based on the torque allowance state and the vehicle's real-time gear position includes: When the vehicle is in neutral or park, the allowable torque range is determined to be zero torque. When the vehicle is in drive at real time, the allowable torque range is determined to include zero torque and positive torque range, wherein the upper limit of the positive torque range is the upper limit of the safe torque range. When the vehicle is in reverse gear in real time, the allowable torque range is determined to include the reverse torque range and zero torque, wherein the lower limit of the reverse torque range is the lower limit of the safe torque range.

3. The vehicle torque control method as described in claim 1, characterized in that, The partial directional allowance includes allowing braking output, and when the torque allowance state is allowing braking output, the step of determining the allowable torque range based on the torque allowance state and the vehicle's real-time gear position includes: When the vehicle is in neutral or park, the allowable torque range is determined to be zero torque. When the vehicle is in a forward gear at real time, the allowable torque range is determined to include the reverse torque range and zero torque. When the vehicle is in reverse gear at real time, the allowable torque range is determined to include both zero torque and forward torque range.

4. The vehicle torque control method as described in claim 1, characterized in that, The step of determining the target torque based on the desired output torque and the allowable torque range includes: Determine whether the desired output torque is within the allowable torque range; If the desired output torque is within the allowable torque range, the desired output torque is taken as the target torque; If the desired output torque is not within the allowable torque range, the value within the allowable torque range that is closest to the desired output torque shall be taken as the target torque.

5. The vehicle torque control method as described in claim 1, characterized in that, The step of determining the target torque based on the desired output torque and the allowable torque range includes: If the upper limit of the allowable torque range is greater than zero, and / or the lower limit of the allowable torque range is less than zero, and if the target torque allowable state at the current moment is prohibited in all directions, then the allowable torque range is updated. If the allowable torque range includes zero torque and positive torque range, or if the allowable torque range includes reverse torque range and zero torque, and if the target allowable torque state at the current moment is consistent with the allowable torque state, and the target real-time gear at the current moment is different from the real-time gear, then the allowable torque range is updated. The target torque is determined based on the updated torque allowable range and the desired output torque.

6. The vehicle torque control method as described in claim 5, characterized in that, When the upper limit of the allowable torque range is greater than zero, the step of updating the allowable torque range includes: Based on the real-time speed and real-time torque of the motor, a first transition slope is determined, wherein the first transition slope is the slope of the change of the upper limit of the positive torque range; A new upper limit value is determined based on the upper limit value of the positive torque range and the first transition slope; The positive torque range is updated based on the new upper limit value to obtain a new positive torque range; The torque allowable range is updated based on the new positive torque range.

7. The vehicle torque control method as described in claim 5, characterized in that, When the lower limit of the allowable torque range is less than zero, the step of updating the allowable torque range includes: Based on the real-time speed and real-time torque of the motor, a second transition slope is determined, wherein the second transition slope is the slope of the change of the lower limit of the reverse torque range; A new lower limit value is determined based on the lower limit value of the reverse torque range and the second transition slope; The reverse torque range is updated based on the new lower limit value to obtain a new reverse torque range; The torque allowable range is updated based on the new reverse torque range.

8. A vehicle torque control device, characterized in that, The vehicle torque control device includes: A response module is used to obtain the desired output torque indicated by the torque request command in response to the torque request command; The determination module is used to determine the allowable torque state based on the real-time operating conditions of the vehicle, and to determine the allowable torque range based on the allowable torque state, wherein the allowable torque state is allowable in all directions, allowable in some directions, or prohibited in all directions; when the allowable torque state is allowable in all directions, the allowable torque range is determined to be the safe torque range allowed by the vehicle's motor; when the allowable torque state is prohibited in all directions, the allowable torque range is determined to be zero torque; when the allowable torque state is allowable in some directions, the allowable torque range is determined based on the allowable torque state and the real-time gear position of the vehicle. The control module is used to determine the target torque based on the desired output torque and the allowable torque range, and to control the vehicle's motor to output the target torque.

9. An electronic device, characterized in that, The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the vehicle torque control method as claimed in any one of claims 1 to 7.

10. A vehicle, characterized in that, The vehicle includes the electronic equipment as described in claim 9.

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